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4. Connecting to the power
4.3
Installing an external leakage breaker
To ensure safety, a leakage breaker must be installed in the power supply connection
section of the robot controller.
Since the robot controller drives the motors by PWM control of IGBT, leakage current
flows at high frequencies. This might cause the external leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum
Chapter
sensitivity current rating (I Δ n).
3
(Check the leakage breaker manufacturer's data sheets to select the optimum product
compatible with inverters.)
w
WARNING
ELECTRICAL SHOCKS, INJURIES OR FIRES MIGHT OCCUR IF THE MOTOR BREAKS
DOWN WHILE THE ROBOT CONTROLLER IS USED WITHOUT INSTALLING A
LEAKAGE BREAKER.
c
CAUTION
1. Leak current was measured with a leak tester with a low-pass fi lter turned
2. When using two or more controllers, sum the leakage current of each
3. Make sure that the controller is securely grounded.
4. Stray capacitance between the cable and FG may vary depending on
RCX221 control power supply (L1, N1)
RCX221 main power supply (L, N)
3-10
on (100Hz).
• Leak tester: Hioki Electric 3283
controller.
the cable installation condition, causing the leakage current to fl uctuate.
Leakage current
1mA in total
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