Robot Safety Functions - Yamaha YP-X Series Owner's Manual

4

Robot Safety Functions

(1) Overload detection
This function detects an overload applied to the motor and shuts off the servo
power.
(2) Overheat detection
This detects an abnormal temperature rise in the controller's driver and shuts
off the servo power.
If an overload or overheat error occurs, take the following measures.
(3) Soft limits
Soft limits can be set on each axis to limit the working envelope in manual
operation after return-to-origin and during automatic operation.
The working envelope is the area limited by soft limits.
(4) Mechanical stoppers
If the servo power is suddenly shut off during high-speed operation by emer-
gency stop or safety functions, these mechanical stoppers prevent the axis
from exceeding the movement range. The R-axis has no mechanical stopper.
The movement range is the area limited by mechanical stoppers.
WARNING
Axis movement does not stop immediately after the servo power
supply is shut off by emergency stop or other safety functions.
(5) Z-axis (vertical axis) brake (Option)
An electromagnetic brake can be installed to the Z-axis as an option, to prevent
the Z-axis from sliding down when the servo power is turned off. This brake is
working when the controller is off or the Z-axis servo power is off even when
the controller is on. The Z-axis brake can be released by means of the pro-
gramming unit or by a command in the program when the controller is on.
WARNING
The Z-axis will slide down when the Z-axis brake is released, caus-
ing a hazardous situation.
• Press emergency stop button and prop the Z-axis with a support
stand before releasing the brake.
• Use caution not to let your body get caught between the Z-axis and
installation base when releasing the brake to perform direct teach.
WARNING
Axis movement does not stop immediately after the servo power
supply is shut off by emergency stop or other safety functions.
1. Insert a timer in the program.
2. Reduce the acceleration coefficient.
CHAPTER 1 Using the Robot Safely
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