Introduction to the Hardware
11
The PreciseFlex 400 power supplies have a dual input range of 90 to 132 VAC and 180 to 264 VAC
50/60 Hz. Inrush current can be as high as 100 Amps at 240 VAC for short periods of time. The power
supplies are protected against voltage surge to 2000 volts. Transient over voltage (< 50 µs) may not
exceed 2000 V phase to ground, as per EN61800-31996. Revisions A and B of the robot are protected
against over current by two 4.0 amp, 250V slow blow fuses, for example Littlefuse 0215004.MXP. For
Revision C and the 3kg version, these fuses have been removed to provide for better filtering in the
power entry connector. The power supplies have over-current protection, and over-voltage protection.
The robot consumes less than 200 Watts during normal operation.
The Precise controller can monitor motor power through its datalogging function. Intermittent power
dropouts can be detected by setting a trigger in the data logger which can record and time-stamp power
fluctuations.
Mechanical and Software Limit Stops
The Z column, shoulder, and elbow have hard limit stops at the end of travel which are factory installed.
The soft-limit stops must be set within the range of these hard stops. The wrist axis has a slip ring when
the electric gripper is installed, allowing unlimited rotation. However, software stops limit rotation to plus
or minus 970 degrees. Since the robot has absolute encoders with battery backup, even if the robot is
turned off, the encoders keep track of joint position. If the wrist axis is rotated manually beyond the 970
degree software limit stops, it will be necessary to rotate it back to within the allowed software limits
before the robot will run. The joint position can be viewed either on the optional Manual Control Pendant,
or in the Virtual Manual Control Pendant in the Web Based Operator Interface. (See Guidance Controller
Setup and Operation Quick Start Guide) For pneumatic configurations a sliding hard stop limits the wrist
rotation to 540 degrees.
Stopping Time and Distance
The robot control system responds to two types of E-Stops.
A Soft E-Stop initiates a rapid deceleration of all robots currently in motion and generates an error
condition for all GPL programs that are attached to a robot. This property can be used to quickly halt all
robot motions in a controlled fashion when an error is detected. A soft E-stop is typically generated by an
application program under conditions determined by the programmer.
This function is similar to a Hard E-Stop except that Soft E-Stop leaves High Power enabled to the
amplifiers and is therefore used for less severe error conditions. Leaving power enabled is beneficial in
that it prevents the robot axes from sagging and does not require high power to be manually re-enabled
before program execution and robot motions are resumed. This function is also similar to a Rapid
Deceleration feature except that a Rapid Deceleration only affects a single robot and no program error is
generated.
If set, the SoftEStop property is automatically cleared by the system if High Power is disabled and re-
enabled.
A Hard E-Stop is generated by one of several hardware E-Stop inputs and causes motor power to be
disabled. However, there is a parameter that determines a delay between the time the Hard E-Stop
signal is asserted and the time the motor power supply relay is opened. This delay is nominally set at 0.5
seconds. It may be adjusted by an operator with administrator privileges. On the web based operator
interface menu, go to Setup/Parameter Database/Controller/Operating Mode/ and set parameter 267 to
the desired delay. If this delay is set to 0, the high-power relay will be disabled within 1ms.
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