Enabling Device Function; When Door Is Opening - Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual

3.7.3 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
stop connection (CR750)"
"6.1.7 Examples of safety
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
AUTO AUTO
MANUAL AUTOMATIC
(Op.) (Ext.)
② Teaching
MODE
TEACH
AUTO AUTO
MANUAL AUTOMATIC
(Op.) (Ext.)
Fig.3-18 ： Door switch function

3.7.4 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
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.
*1) Recommendation products: HE1G-L20MB (IDEC)
or Page 87 "Fig. 3-13: Emergency stop cable connection (CR751)",
measures". Those figure explains the wire is contact closes when the door is closed.
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
*1)
(servo-off), and the safety increases. To use the robot safely, please be
Page 84 "Fig. 3-10: External emergency
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.
Emergency stop input and output etc. 3-92
3 Controller
and Page 143,