Table of Contents
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Failsafe Circuits
2-4-3
Failures in the Feedback System
2-4-4
Other Safety Features
Wiring Check
Software Limits
Feedback Pulse Error
Detection
138
Sensors can be mounted in dangerous areas to stop the machine by turned
OFF the main circuits of the Servo Drivers. To be sure that the failsafe mea-
sure is dependable, sensors are mounted in areas where the machine must
never enter. If a sensor is activated, a dynamic brake is applied to the Servo
Drivers, the Servo Driver main circuits are turned OFF, other similar measures
are taken.
Normal range of movement
CCW limit input
Prohibited area
Sensor
Operation
command
CPU
output
Unit
Sensor
Sensor
controller
The following functions are also available to aid in implementing safety mea-
sures.
A wiring check can be performed the first time a servo is locked after starting
or restarting the MC Unit. Both the command system and feedback system
wiring is checked. Refer to 2-3-10 Wiring Check Function for details.
Clockwise and counterclockwise limits can be set in the software to prevent
motion outside of a specific range. An error will occur and the axis will be
decelerated to a stop if a software limit is exceeded. Refer to Positive (+) and
Negative (–) Software Limits on page 178 for details.
An error will occur if the feedback pulse from the encoder exceeds 500 kpps.
When this happens, a speed reference voltage of 0 V will be output to the
Servo Driver for 0.5 s and then the operation command output to the Servo
Driver will be turned OFF.
CW limit input
Prohibited area
Sensor
X axis
Voltage
MC
output
Unit
Servo
driver
External output
Section 2-4
Servomotor
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