Epson RC620+ Manual page 29

Irregular Motor Torque (out-of-control manipulator) Detection
The dynamic brake circuit is activated when irregularity with motor torque (motor output)
is detected (in which case the Manipulator is out of control).
Motor Speed Error Detection
The dynamic brake circuit is activated when the system detects that the motor is running at
incorrect speed.
Positioning Overflow –Servo Error- Detection
The dynamic brake circuit is activated when the system detects that the difference between
the Manipulator's actual position and commanded position exceeds the margin of error
allowed.
Speed Overflow –Servo Error- Detection
The dynamic brake circuit is activated when the Manipulator's actual speed is detected to
mark an overflow (the actual speed is outside the nominal range) error.
CPU Irregularity Detection
Irregularity of CPU that controls the motor is detected by the watchdog timer. The
system CPU and the motor controlling CPU inside the Drive Unit are also designed to
constantly check each other for any discrepancies. If a discrepancy is detected, the
dynamic brake circuit is activated.
Memory Check-sum Error Detection
The dynamic brake circuit is activated when a memory check-sum error is detected.
Overheat Detection at the Motor Driver Module
The dynamic brake circuit is activated when the temperature of the power device inside
the Motor Driver module is above the nominal limit.
Relay Deposition Detection
The dynamic brake circuit is activated when relay deposition or junction error is detected.
Over-Voltage Detection
The dynamic brake circuit is activated when the voltage of the Drive Unit is above the
normal limit.
AC Power Supply Voltage Drop Detection
The dynamic brake circuit is activated when the drop of the power supply voltage is
detected.
Temperature Anomaly Detection
The temperature anomaly is detected.
Fan Malfunction Detection
Malfunction of the fan rotation speed is detected.
RC620DU Rev.5
Setup & Operation 2. Part Names and Functions
17