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4
Robot Safety Functions
(1) Overload detection
This function detects an overload applied to the motor and shuts off the
servo power. If an overload error occurs, take the following measures.
1. Insert a timer in the program.
2. Reduce the acceleration coefficient.
(2) Overheat detection
This function detects an abnormal temperature rise in the driver inside the
controller and shuts off the servo power. If an overheat error occurs, take
the following measures.
1. Insert a timer in the program.
2. 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.
(4) Mechanical stoppers
If the servo power is suddenly shut off during high-speed operation by
emergency stop or safety functions, these mechanical stoppers prevent the
axis from exceeding the movement range.The movement ranges of the
X-axis arm can be limited as needed by use of mechanical stoppers. (Ex-
cluding the R6YXCH250, R6YXCH350 and R6YXCH400)
On the Y-axis arm, mechanical stoppers are fixed at both ends of the maxi-
mum movement range.
The Z-axis has a mechanical stopper at the upper end and lower end.
No mechanical stopper is provided on the R-axis.
Note: The movement range is the area limited by mechanical stoppers.
WARNING
AXIS MOVEMENT WILL NOT STOP IMMEDIATELY AFTER THE SERVO
POWER SUPPLY IS SHUT OFF BY EMERGENCY STOP OR OTHER
SAFETY FUNCTIONS.
(5) Z-axis (vertical axis) brake
An electromagnetic brake is installed on the Z-axis to prevent the Z-axis
from sliding down when servo power is turned off. This brake is working
when the controller is off or the Z-axis servo power is off even when the
controller is on.The Z-axis brake can be released by means of the program-
ming box or by a command in the program when the controller is on.
WARNING
THE Z-AXIS WILL SLIDE DOWN WHEN THE Z-AXIS BRAKE IS
RELEASED, CREATING A HAZARDOUS SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP THE Z-AXIS WITH
A SUPPORT STAND BEFORE RELEASING THE BRAKE.
• USE CAUTION NOT TO LET YOUR BODY GET CAUGHT BETWEEN
THE Z-AXIS AND INSTALLATION BASE WHEN RELEASING THE BRAKE
TO PERFORM DIRECT TEACH.
CHAPTER 1 Using the Robot Safely
1-9
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