Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
14
interlock is activated, the dc power to the amplifiers is cut off, which turns
off the servo motors.
To recover from an interlock stop condition, inspect the system for any
damage, interfering components, or open panels. Check and reset the
individual interlocks. Start up the system and turn on servo motors on all
axes (SVON).
To enable the interlock circuit, activate pin 24 (+) and pin 6 (-) on the
DB37 connector or pin 34 (+) and pin 67 (-) on the SCSI 68 connector
wired normally closed. To allow for multiple interlock switches, all
switches should be wired in series (normally closed). An open in any of
these switches will disconnect power to the laser scanner and all motors.
The interlock loop monitor, pin 23 (+ out) and pin 5 (- return) on the
DB37 connector allows for monitoring the interlock status directly,
bypassing controller software. If the bit goes low at any time, it indicates
that an interlock has been opened. This allows the host computer to
receive a warning directly and could also be used to generate an interrupt
routine to recover from the interlock condition.
For more details, refer to Appendix B: Circuit Drawings. To custom
configure other than the default settings, contact your Equipe
representative.
Additional Robot Safeguards
The robot has the following safety features:
• In case of electrical power failure, each axis stops in whatever position
it is in at the time of failure.
•
If the encoder signal cable is disconnected while the power is on, the
amplifier is disabled.
•
If the robot hits an object, the system stops. That is, when the
following error is greater than the configured limit, the controller
disables the axis. The following error is a robot parameter that limits
the difference in encoder counts between the actual position and the
expected position.
For the safety of the operating personnel, Equipe requires that robotic
systems are enclosed behind safety doors and interlocks. In addition, the
safety training of personnel required by ANSI/RIA R15.06 should be
followed.
To Next Page
Loading...
