6 Safety
Safety 6-93
6 Safety
6.1 Safety
For information on safety, refer to the Collaborative Robot Safety Manual and take appropriate measures
accordingly.
6.1.1 Self-diagnosis stop functions
This robot has the self-diagnosis stop functions shown in Table 6-1 and the stop functions shown in Table 6-
2 for safe use.
Table 6-1: Self-diagnosis stop functions
Table 6-2: List of stop functions
No. Function Details Remarks
1 Overload protection func-
tion
Activates when the total servo current time
exceeds the specified value.
The drive circuit is shut off. The robot stops,
and an alarm displays.
2 Overcurrent diagnosis
function
Activates when an overcurrent flows to the motor
circuit.
The drive circuit is shut off. The robot stops,
and an alarm displays.
3 Encoder disconnection
diagnosis function
Activates when the encoder cable is discon-
nected.
The drive circuit is shut off. The robot stops,
and an alarm displays.
4 Deflection over diagno-
sis function
Activates when an error occurs between the com-
mand value and actual position, and the error
exceeds the specified amount.
The drive circuit is shut off. The robot stops,
and an alarm displays.
5 AC power voltage drop
diagnosis function
Activates when the AC power voltage drops below
the specified value.
The drive circuit is shut off. The robot stops,
and an alarm displays.
6 CPU error detection
function
Activates when an error occurs in the CPU. The drive circuit is shut off. The robot stops,
and an alarm displays.
7 Overrun
preven-
tion func-
tion
Software
limit detec-
tion
This is the limit provided by the software to enable
operation only in the operation range. The drive circuit is shut off. The robot stops,
and an alarm displays.
Stop
function
Teaching
pendant
External
input
Opera-
tion but-
tons
Details
Emer-
gency stop
○○ -
The servo power is shut off and the mechanical brakes activate to stop the robot by
stopping operation in an emergency.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
Stop ○○○
The robot immediately decelerates to stop by stopping operation as usual.
Note that the servo power is not shut off. Use this when using the collision evasion
sensor, etc.
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