System Behavior With Ethercat Communication Errors; Brakes; Brake Release Connector - Omron Viper 650 User Manual

LED Color
RUN Green
ERR Red
FS Yellow
System Behavior with EtherCAT Communication Errors
If an EtherCAT communication error is present and no network communication is possible, all
robots on the network will stop with controlled deceleration, and high power will be disabled.
If an EtherCAT communication error is present for a specific robot node(s), only that robot is
affected by stopping with controlled deceleration and high power being disabled.

6.4 Brakes

The robot has a braking system that decelerates the robot in an emergency or abnormal situ-
ation, such as when the emergency stop circuit is open or a robot joint passes its softstop.
NOTE: The braking system will not prevent you from moving Joint 1 of the
robot manually after the robot has stopped and high power has been removed.
Joints J2 through J6 have electromechanical brakes that release when high power is ON. When
high power is turned OFF, the brakes engage and hold the joints in position.
!

Brake Release Connector

The 9-pin Brake Release connector provides an interface for connecting a manual brake release
box.
21861-000 Rev A
Status
Lit EtherCAT communications are in progress.
Flashing EtherCAT communications are established and in one
of the following states:
l
l
Not lit EtherCAT communications are stopped.
l
l
Lit There is an unrecoverable error, such as a hardware
error or an exception.
Flashing There is a recoverable error.
Not lit There is no error.
Not Lit Reserved for Future Use
WARNING: Secure the robot prior to releasing the brakes on axes 2 or 3, to
prevent injury to personnel or equipment damage.
Viper 650 and 850 Robot with EtherCAT
Description
Only message communications are func-
tioning.
Only message communications and I/O data
input operations are functioning.
Robot power is OFF or the controller is being
reset.
There is a communications error.
Chapter 6: System Operation
89