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6 Safety
6.1 Safety
For information on safety, refer to the Collaborative Robot Safety Manual and take appropriate measures
accordingly.
6.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in
2
for safe use.
Table 6-1: Self-diagnosis stop functions
No.
Function
1
Overload protection func-
tion
2
Overcurrent diagnosis
function
3
Encoder disconnection
diagnosis function
4
Deflection over diagno-
sis function
5
AC power voltage drop
diagnosis function
6
CPU error detection
function
7
Overrun
Software
preven-
limit detec-
tion func-
tion
tion
Table 6-2: List of stop functions
Stop
Teaching
function
pendant
Emer-
○
gency stop
Stop
○
Activates when the total servo current time
exceeds the specified value.
Activates when an overcurrent flows to the motor
circuit.
Activates when the encoder cable is discon-
nected.
Activates when an error occurs between the com-
mand value and actual position, and the error
exceeds the specified amount.
Activates when the AC power voltage drops below
the specified value.
Activates when an error occurs in the CPU.
This is the limit provided by the software to enable
operation only in the operation range.
External
Opera-
input
tion but-
tons
The servo power is shut off and the mechanical brakes activate to stop the robot by
○
-
stopping operation in an emergency.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
The robot immediately decelerates to stop by stopping operation as usual.
○
○
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.
Table 6-1
Details
and the stop functions shown in
Remarks
The drive circuit is shut off. The robot stops,
and an alarm displays.
The drive circuit is shut off. The robot stops,
and an alarm displays.
The drive circuit is shut off. The robot stops,
and an alarm displays.
The drive circuit is shut off. The robot stops,
and an alarm displays.
The drive circuit is shut off. The robot stops,
and an alarm displays.
The drive circuit is shut off. The robot stops,
and an alarm displays.
The drive circuit is shut off. The robot stops,
and an alarm displays.
Details
6 Safety
Table 6-
Safety 6-93
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