Safety; Self-Diagnosis Stop Functions - Mitsubishi Electric RV-8CRL Standard Specifications Manual

Industrial robot

6 Safety

6.1 Safety

Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanita-

tion Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in

for safe use.

Table 6-1: Self-diagnosis stop functions

No.

Function

Overload protection func-

tion

Overcurrent diagnosis

function

Encoder disconnection

diagnosis function

Deflection over diagno-

sis function

AC power voltage drop

diagnosis function

CPU error detection

function

Overrun

Software

preven-

limit detec-

tion func-

tion

Mechanical

stopper

Table 6-2: List of stop functions

Stop

Teaching

function

pendant

Emer-

○

gency stop

Stop

○

Details

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.

This is the mechanical stopper provided outside

the software.

External

input

The servo power is shut off and the mechanical brakes activate to stop the robot by stop-

○

ping 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 sen-

sor, etc.

Table 6-1

and the stop functions shown in