Epson LS-B Series Safety And Installation page 48

1. Safety
Low Power Mode
The motor power is reduced in this mode.
Executing a power status change instruction will change to the restricted (low
power) status regardless of conditions of the safety door or operation mode. The
restricted (low power) status ensures the safety of the operator and reduces the
possibility of peripheral equipment destruction or damage caused by careless
operation.
Dynamic Brake
The dynamic brake circuit includes relays that short the motor armatures.
The dynamic brake circuit is activated when there is an Emergency Stop input or
when any of the following errors is detected: encoder cable disconnection, motor
overload, irregular motor torque, motor speed error, servo error (positioning or
speed overflow), irregular CPU, memory check-sum error and overheat condition
inside the Motor Driver Module.
Motor Overload Detection
The dynamic brake circuit is activated when the system detects that the load on the
motor has exceeded its capacity.
Irregular Motor Torque (out-of-control manipulator) Detection
The dynamic brake circuit is activated when irregularity with motor torque (motor
output) is detected (in which case the Manipulator is out of control).
Motor Speed Error Detection
The dynamic brake circuit is activated when the system detects that the motor is
running at incorrect speed.
Positioning Overflow -Servo Error- Detection
The dynamic brake circuit is activated when the system detects that the difference
between the Manipulator's actual position and commanded position exceeds the
margin of error allowed.
Speed Overflow -Servo Error- Detection
The dynamic brake circuit is activated when the Manipulator's actual speed is
detected to mark an overflow (the actual speed is outside the nominal range) error.
32 Safety and Installation (RC90-B / EPSON RC+ 7.0) Rev.4