Door Switch Function; Enabling Device Function; When Door Is Opening; When Door Is Closing - Mitsubishi Electric MELFA RV-2SD Standard Specifications Manual

3 Controller

3.6.3 Door switch function

This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in
closes when the door is closed. Details of this function according to the robot status are shown below.
・ During automatic operation .............When the door is opened, the servo turns OFF and the robot stops. An error
・ During teaching.......................................Even when the door is opened, the servo can be turned ON and the robot
① Auto executing
MODE
TEACH
MANUAL AUTOMATIC
AUTO AUTO
(Op.) (Ext.)
② Teaching
MODE
TEACH
AUTO AUTO
MANUAL AUTOMATIC
(Op.) (Ext.)
Fig.3-14 ： Door switch function

3.6.4 Enabling device function

When the abnormalities occur in teaching operations etc., the robot's servo power can be immediately cut only by
switch operation of the enabling device
be sure to connect the enabling device.

(1) When door is opening

Please do teaching by two-person operations. One person has T/B, the other has enabling device. Turn on the
servo power, in the condition that both of switches are pushed. (Enable switch of T/B and enabling device) Then
the jog operation will be available. You can off the servo power only by releasing the switch of the enabling device.
And, care that the servo-on and releasing the brake cannot be done in the condition that the switch of the
enabling device is released.

(2) When door is closing

You can turn on the servo power by operation of only T/B. In this case perform jog operation outside the
safeguard sure.
Note1)Recommendation products: HE1G-L20MB (IDEC)
Emergency stop input and output etc.
3-55
occurs.
The process of the restoration : Close the door, reset the alarm, turn on the
servo, and restart
moved using the teaching pendant.
Safeguard
Open
Safeguard
Open
Note1)
(servo-off), and the safety increases. To use the robot safely, please
Fig. 3-12, and wire so that the contact
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.