Brakes; Brake Release Button - Omron iX4 User Manual

LED Color
RUN Green
ERR Red
FS Yellow
System Behavior with EtherCAT Communication Errors
If an EtherCAT communication error is present an no network communication is possible, all
robots on the network will stop with controlled deceleration and high power will be disabled.
If an EtherCAT communication error is present for a specific robot node(s), only that robot is
affected by stopping with controlled deceleration and high power being disabled.

5.4 Brakes

An electromechanical brake system is provided to hold the platform in a fixed location when
High Power is disabled. This prevents the system from moving due to gravity when power is
not present. This brake system is automatically engaged when High Power is disabled. A
brake is provided on each inner-arm motor.
The brake system prevents manually moving the robot when High Power is disabled.
NOTE: The robot has a dynamic braking system that decelerates the robot in a
controlled manner during an emergency or abnormal situation, such as when
the emergency stop circuit is open or a robot joint passes its softstop.

Brake Release Button

Under some circumstances, you may want to manually position the platform without enabling
High Power. For such instances, a Brake-Release button is located in the Status Display panel.
22793-000 Rev. A
Status
Lit EtherCAT communications are in progress.
Flashing EtherCAT communications are established and in one
of the following states:
l
l
Not lit EtherCAT communications are stopped.
l
l
Lit There is an unrecoverable error, such as a hardware
error or an exception.
Flashing There is a recoverable error.
Not lit There is no error.
Not Lit Reserved for Future Use
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Description
Only message communications are func-
tioning.
Only message communications and I/O data
input operations are functioning.
Robot power is OFF or the controller is being
reset.
There is a communications error.
Chapter 5: System Operation
107