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3 Controller
Emergency stop input and output etc.
3-90
(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
Fig.3-19 ： Brake release operation
No Operation
Related switch settings
Note1)
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 CR750 controller: ..................................................................................Page 65, "3.2 Names of each part"
Mode of CR751 controller: ............................................................Page 91, "3.7 Mode changeover switch input"
･ T/B enable/disable:......................................................................................Page 100, "(1) Teaching pendant (T/B)"
･ T/B enable switch: .......................................................................................Page 100, "(1) Teaching pendant (T/B)"
･ Enabling device input terminal:.................................................Page 139, "6.1.7 Examples of safety measures"
･ Door switch input terminal:........................................................Page 139, "6.1.7 Examples of safety measures"
Description
Mode of
controller
T/B
enable/
disable
T/B
enable switch
Enabling
device input
terminal
Door switch
input terminal
1 Jog operation Manual Enable ON Close(ON) －
If the enabling device input is set to
Close (On), the state of door switch
input does not matter.
2
Jog operation
Note2)
Note2) Jog operation, if door switch input is set for Close (Door Close), must be performed outside the safety bar-
rier.
Manual Enable ON Open(OFF)
Close
(Door Close)
If the enabling device input is set to
Open (Off), door switch input must be
in a state of Close
3
Brake release
Note3)
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.
Manual Enable ON Close(ON) －
Irrespective of the state of door
switch input, enabling device input
must be in a state of Close (On).
4
Automatic
operation
Automatic Disable － －
Close
(Door Close)
Door switch input must always be in a
state of Close (Door Close).
Door in
Open state
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.
CAUTION
T/B being manipulated
Enabling device being manipulated