Robot Safety Functions - Yamaha TRANSERVO SSC04 User Manual

1-4 Robot safety functions

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Robot safety functions

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(1) Overload detection
Detects motor overload conditions and shuts off the power.
(2) Abnormal temperature detection
This function detects abnormally high temperatures at the controller's driver, and
shuts off the power. The following measures should be taken when an error (overload
error, abnormal temperature error) occurs.
1. Reduce the speed.
2. Insert a "stop period" in the operation.
3. Reduce the acceleration coefficient.
(3) Soft limits
Soft limits can be set on each axis to limit the working envelope in manual operation
after return-to-origin and during automatic operation.
Note: The working envelope is the area limited by soft limits.
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WARNING
SOFT LIMITS MUST BE SET WITHIN THE MOVEMENT RANGE (MECHANICAL
STOPPER). IF THE SOFT LIMIT IS SET OUTSIDE THE MOVEMENT RANGE, THE ROBOT
AXIS MAY COLLIDE WITH THE MECHANICAL STOPPER AT HIGH SPEED, CAUSING
THE OBJECT GRIPPED BY THE END EFFECTOR TO FLY OR DROP AND THE ROBOT
TO MALFUNCTION.
(4) Mechanical stoppers
The mechanical stoppers prevent axis motion from exceeding the permissible motion
range when the power is shut off by an emergency stop or by a safety function during
high-speed robot movement.
Note: The movement range is the area limited by mechanical stoppers.
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WARNING
AXIS MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE POWER IS SHUT OFF
BY EMERGENCY STOP OR OTHER SAFETY FUNCTIONS.
(5) Vertical axis brake
Vertical axis is equipped with an electromagnetic brake to prevent the vertical axis
from falling when a power shut off occurs. This brake is engaged when the robot
positioner power is OFF, and when the robot positioner power is ON while the
vertical axis servo is OFF.
The vertical axis brake can be released from the handy terminal HT1 when the robot
positioner power is ON.
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