Installing An External Leakage Breaker; Installing A Circuit Protector; Installing A Current Control Switch - Yamaha RCX141 User Manual

4. Connecting to the power
c
CAUTION
1. Leak current was measured with
a leak tester with a low-pass filter
turned on (100Hz).
Leak tester: Hioki Electric 3283
2. When using two or more
controllers, sum the leakage
current of each controller.
3. Make sure that the controller is
securely grounded.
3
4. Stray capacitance between the
cable and FG may vary
depending on the cable
installation condition, causing
the leakage current to fluctuate.
w
WARNING
Electrical shocks, injuries or
fires might occur if the motor
breaks down while the robot
controller is used without
installing a leakage breaker.
w
WARNING
Electrical shocks, injuries or
fires might occur if the motor
breaks down while the robot
controller is used without

installing a circuit protector.

8
3-
4.3

Installing an external leakage breaker

To ensure safety, a leakage breaker must be installed in the power supply connection
section of the robot controller. Since the robot controller drives the motors by PWM
control of IGBT, leakage current flows at high frequencies. This might cause the external
leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum
sensitivity current rating (I∆n). (Check the leakage breaker manufacturer's data sheets to
select the optimum product compatible with inverters.)
4.4

Installing a circuit protector

To ensure safety, a circuit protector must be installed in the power supply connection
section of the robot controller. An inrush current, which might be from several to nearly
20 times higher than the rated current, flows at the instant that the controller is turned on
or the robot motors start to operate. When installing an external circuit protector for the
robot controller, select a circuit protector that provides optimum operating characteristics.
To ensure proper operation, we recommend using a medium to slow response circuit
protector with an inertial delay function. (Refer to the circuit protector manufacturer's
data sheets for making the selection.)
Example
R C X 1 4 1
4.5

Installing a current control switch

When controlling the power on/off of the robot controller from an external device such as
a PLC, a current control switch (contactor, breaker, etc.) may be used. In this case, the
current control switch usually creates a large on/off surge current. To minimize this on/off
surge current, surge killers must be installed for surge absorption. Connect a surge killer
in parallel with and close to each contact of the current control switch.
Recommended surge killer:
Okaya Electric XE1201, XE1202, RE1202 or equivalent
Example
AC200V
Leakage current
RCX141 4mA(MAX)
Rated current Operating characteristics
Slow type with inertia delay
2 0 A
300%
(
1000%
Controller
AC IN
L
N
FG
2 sec.
)
0.01 sec.
: Surge killer
: Contactor