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Chapter 1 About Safety
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Robot Safety Functions
(1) Overload detection
This function detects an overload applied to the motor and shuts off the servo power.
(2) Overheat detection
This detects an abnormal temperature rise in the controller driver and shuts off the servo
power.
If an overload or 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.
No mechanical stopper is provided on the rotating 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) Vertical axis brake
An electromagnetic brake is installed on the vertical use robot to prevent the vertical axis
from sliding down when servo power is turned off. This brake is working when the control-
ler is off or the vertical axis servo power is off even when the controller is on.
The vertical axis brake can be released by means of the programming unit or by a command
in the program when the controller is on.
WARNING
The vertical axis will slide down when the brake is released, creating a hazardous
situation.
· Press the emergency stop button and prop the vertical axis with a support stand
before releasing the brake.
· Use caution not to let your body get caught between the vertical axis and installa-
tion base when releasing the brake to perform direct teach.
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