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6 Safety
6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.
6.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in
for safe use.
Table 6-1 ： Self-diagnosis stop functions
No.
Function
Overload protection func -
1
tion
2
Overcurrent diagnosis
function
3
Encoder disconnection
diagnosis function
4
Deflection over diagnosis
function
5
AC power voltage drop
diagnosis function
CPU error detection func -
6
tion
7
Overrun
Software limit
prevention
detection
function
Mechanical
stopper
Table 6-2 ： List of stop functions
Stop
Operation
function
panel
Emergency
◯
stop
Stop
◯
6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3 ： External input/output signals that can be used for safety protection measures
Signal
External emer -
gency stop
Stop
Servo OFF
Automatic opera -
tion enable
In servo ON
Waiting
In alarm
［Caution］ The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emer -
gency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to
"Fig. 6-1 Example of safety
Activates when the total servo current time exceeds
the specified value.
Activates when an overcurrent flows to the motor
circuit.
Activates when the encoder cable is disconnected.
Activates when an error occurs between the com -
mand value and actual position, and the error
exceeds the specified amount.
Activates when the AC power voltage drops below
the specified value.
Activates when an error occurs in the CPU.
This is the limit provided by the software to enable
operation only in the operation range.
This is the mechanical stopper provided outside the
software.
Teaching
External
pendant
input
This is the stop with the highest degree of emergency. The servo power is shut off,
◯
◯
and the mechanical brakes (all axes) activate to stop the robot.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
This is a stop operation with a high degree of emergency. The robot immediately
decelerates and stops.
◯
◯
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.
Command
(Input signal) This servo power is shut off, and the robot
stops immediately.
STOP
The program execution is stopped, and the
robot stops. The servo power is not shut off.
SRVOFF
The servo power can be shut off.
AUTOENA
Disables automatic operation when inactive.
SRVON
The servo power ON/OFF state is output.
STOP
Outputs that the robot is temporarily stopped.
ERRRESET
Outputs when an alarm occurs in the robot.
measures"for details.
Table 6-1
and the stop functions shown in
Details
Functions
Remarks
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The robot mechanically stops, and function 1 or 2
activates.
Details
Usage method
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
The robot is stopped when a peripheral device
fault occurs. The servo power is not shut off.
Door switch on safety protection fence
The servo power ON/OFF state is shown and
alerted with the display lamps.
The temporary stop state is shown and alerted
with the display lamps.
The alarm state is shown and alerted with the dis -
play lamps.
6Safety
Table 6-2
Safety 5-96
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