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Emergency stop input and output etc.
3 Controller
3.6.3 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 Page 85 "Fig. 3-14: External emergency
stop connection (CR751)" or Page 84 "Fig. 3-13: Emergency stop cable connection (CR751)", and Page 139,
"6.1.7 Examples of safety measures". Those figure explains the wire is contact closes when the door is closed.
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
occurs.
The process of the restoration: Close the door, reset the alarm, turn on the
servo, and restart
*During teaching........................................Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.
Fig.3-18 ： Door switch function
3.6.4 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
*1)
(servo-off), and the safety increases. To use the robot safely, please be
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)
Safeguard
Turns OFF the servo
STOP!!
Open
TEACH
AUTO
(Ext.)
AUTO
(Op.)
Open
TEACH
AUTO
(Ext.)
AUTO
(Op.)
The servo can be turned ON/Off
by turning the enable switch ON/OFF.
Safeguard
Teaching
pendant
Robot arm
(Example)
Robot arm
(Example)
MODE
MANUAL AUTOMATIC
① Auto executing
② Teaching
MODE
MANUAL AUTOMATIC