Epson RC520 Manual page 21

Safety Door Input:
In order to activate this feature, make sure that the Safety Door Input switch is connected
to the EMERGENCY connector on the Drive Unit.
When the safety door is opened, normally the Manipulator immediately stops the current
operation, and the status of Manipulator power is operation-prohibited until the safety
door is closed and the latched condition is released. In order to execute the Manipulator
operation while the safety door is open, you must change the ATTEND (TEACH) control
device enable/disable switch to "enable" or change the mode selector switch on the
operation unit to the mode for teaching and then engage the 3-position enable switch. In
this case, the Manipulator is operated in low power status.
Lockout:
Turn OFF the power supply and use a lockout procedure to prevent anyone from turning
ON the power supply by mistake while someone else is in the safeguarded area for
maintenance or repairs.
The procedure for lockout is described in the Maintenance 1. Safety Precautions for
Maintenance.
Low Power Mode:
The motor power is reduced in this mode. A shift into restricted status (low power
status) can be done through the execution of a power status change instruction, regardless
of the safety door or operation mode. This ensures the safety of the operator and reduces
the possibility of peripheral equipment being destroyed or damaged as a result of careless
operation.
Dynamic Brake:
The dynamic brake circuit includes relays that short the motor armatures. When the
motor armatures are shorted, the power to the Motor Driver modules is cut off and the
reverse EMF caused by the short stops the motors.
activated when there is an Emergency Stop input or when any of the following errors is
detected: encoder cable disconnection, motor overload, irregular motor torque, motor
speed error, servo error (positioning or speed overflow), irregular CPU, memory
check-sum error and overheat condition inside the Motor Driver Module.
Encoder Cable Disconnection Error Detection:
The dynamic brake circuit is activated when the Motor Encoder Signal cable (connecting
to the Drive Unit) is disconnected.
Motor Overload Detection:
The dynamic brake circuit is activated when the system detects that the load on the motor
has exceeded its capacity.
RC520 Rev.7
Setup & Operation 1. Safety
The dynamic brake circuit is
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