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3 Controller
(1) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
The following is a description of various operations performed on the robot and switch settings that are
required.
Table 3-6: Various operations and necessary switch settings
No
Operation
1
Jog operation
Brake release
2
Note2)
Automatic
3
operation
Note1) "-" in the table indicates that the state of switch concerned does not matter.
Refer to the following for operation of each switch.
• T/B enable/disable:
• T/B enable
• Mode selector switch input terminal:
• Door switch input terminal:
Note2) T/B is used for the brake release operation. Brake release can be effected only when the T/B enable switch is placed in
intermediate position (lightly gripped position). At this point, the state of door switch input does not matter.
Door in open state
Fig.3-10: Brake release operation
3-48 Emergency stop input and output etc.
Related switch settings
T/B
T/B
enable/disable
enable switch
Enable
ON
Enable
ON
Disable
-
.................................................. Page 55, "(1) Teaching pendant (T/B)"
switch:.................................................... Page 55, "(1) Teaching pendant (T/B)"
........................ Page 100, "6.1.7 Examples of safety measures"
....................................... Page 100, "6.1.7 Examples of safety measures"
T/B being manipulated
Note1)
Mode selector
Door switch
switch input
input terminal
terminal
Open
(MANUAL
-
mode)
Open
(MANUAL
-
mode)
Close
Close
(AUTOMATIC
(Door Close)
mode)
CAUTION
Upon the release of brake, the robot
arm may fall under its own weight
depending on the axis which has been
released. To ensure safety, take
appropriate measures such as
supporting the axis to avoid the free
fall.
Description
If the mode selector switch input is
set to Open (MANUAL mode), the
state of door switch input does not
matter.
If the mode selector switch input is
set to Open (MANUAL mode), the
state of door switch input does not
matter.
Door switch input must always be in
a state of Close (Door Close).
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