External Leakage Breaker Installation; Circuit Protector Installation; Current Control Switch Installation - Yamaha RCX40 User Manual

4. Power connections
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 two or more controllers are
used, the leakage current of each
controller should be summed.
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.
8
3-
4.3

External leakage breaker installation

Since the robot controller drives the motors by PWM control of IGBT, leakage current at
high frequencies flows. 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

Circuit protector installation

An inrush current, which is several times 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 an appropriate
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 4 0
4.5

Current control switch installation

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, an on/
off surge current usually generates from the current control switch. To minimize this on/
off surge current, surge killers must be installed for surge absorption. Connect a surge
killer in parallel with and closely to each contact of the current control switch.
Recommended surge killer:
Okaya Electric XE1201, XE1202, RE1202 or equivalent
Example
AC200V
Leakage current
RCX40 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