Door Switch Function; Mode Selector Switch Function - Mitsubishi Electric RV-8CRL Standard Specifications Manual

3.6.3 Door switch function

This function acquires the status of the switches attached on the door of the safety fence, and it turns OFF
the servo to stop the robot when the door is opened. Perform wiring so that the contact opens when the door
is opened.
Follow the wiring example shown in
"6.1.7 Examples of safety
(Fig. 3-9).
*During automatic operation ........ When the door is opened, the servo turns OFF and the robot stops. An
*During teaching ........................... Even when the door is opened, using a selector switch allows to turn the
1) Auto executing
2) Teaching
Fig.3-9: Door switch function

3.6.4 Mode selector switch function

The mode selector switch switches the mode of the controller between MANUAL mode and AUTOMATIC
mode.
Table 3-5: States of input terminal
MANUAL (Teaching)
AUTOMATIC (Automatic operation)
Page 44 "Fig. 3-6: External emergency stop connection"
measures". Details of this function according to the robot status are shown below
error occurs. The process of the restoration: Close the door, reset the
alarm, turn on the servo, and restart.
servo ON with the teaching pendant to operate the robot.
Safeguard
Open
Safeguard
Open
Mode of controller
STOP!!
Robot arm
(Example)
Turns OFF the servo
Teaching
pendant
Robot arm
(Example)
The servo can be turned
ON/OFF by turning the
enable switch ON/OFF.
Emergency stop input and output etc. 3-47
3 Controller
and Page 100,
Input terminal
Open
Close