When Door Is Closing; Automatic Operation/Jog Operation/Brake Release And Necessary Switch Settings - Mitsubishi MELFA RH-3FH-D Series Special Specifications Manual

3 Controller

(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.

(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings

The following is a description of various operations performed on the robot and switch settings that are required.
Table 3-5 ： Various operations and necessary switch settings
No Operation
1 Jog operation
Jog operation
2
Note2)
Brake release
3
Note3)
Automatic
4
operation
Note1) "-" in the table indicates that the state of switch concerned does not matter.
Refer to the following for operation of each switch.
･ Mode of controller: ..........................................................................
･ T/B enable/disable:..................................................................................... Page 104, "(1) Teaching pendant (T/B)"
･ T/B enable
･ Enabling device input terminal:
･ Door switch input terminal:
Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety bar -
rier.
Note3) It is imperative that brake release operation be carried out by two persons. One person turns on the
enabling device ("Close" on the enabling device input terminal) while the other manipulates the T/B. Brake
release can be effected only when both of the enabling switch device and the T/B enable switch are placed
in intermediate position (lightly gripped position). At this point, the state of door switch input does not mat -
ter.
Fig.3-19 ： Brake release operation
Emergency stop input and output etc.
3-93
Related switch settings
Mode of T/B
controller enable/ enable switch
disable
Manual Enable
Manual Enable
Manual Enable
Automatic Disable
switch:....................................................................................... Page 104, "(1) Teaching pendant (T/B)"
.................................................Page 143, "6.1.7 Examples of safety measures"
........................................................Page 143, "6.1.7 Examples of safety measures"
Door in
Open state
Enabling device being manipulated
Note1)
T/B Enabling Door switch
device input input terminal
terminal
ON Close(ON)
ON Open(OFF)
(Door Close)
ON Close(ON)
－ －
(Door Close)
Page 94, "3.8 Mode changeover switch input"
T/B being manipulated
Description
If the enabling device input is set to
－ Close (On), the state of door switch
input does not matter.
If the enabling device input is set to
Close
Open (Off), door switch input must be
in a state of Close
Irrespective of the state of door
－ switch input, enabling device input
must be in a state of Close (On).
Close Door switch input must always be in a
state of Close (Door Close).
CAUTION
Upon the release of brake, the
robot arm may fall under its own
weight depending on the axis
which has been released. For
added safety, provide support or
take other precaution to prevent
the falling of the arm.