Yamaha DRCX User Manual download pdf (Page 21)

CHAPTER 1 Using the Robot Safely

1-9

4 Robot Safety Functions

(1) Overload detection

This function detects an overload applied to the motor and shuts off the servo

power.

(2) Overheat detection

This detects an abnormal temperature rise in the controller’s driver and shuts

off the servo power.

If an overload or overheat error occurs, take the following measures.

1. Insert a timer in the program.

2. Reduce the acceleration coefficient.

(3) Soft limits

Soft limits can be set on each axis to limit the working envelope in manual

operation after return-to-origin and during automatic operation.

The working envelope is the area limited by soft limits.

(4) Mechanical stoppers

If the servo power is suddenly shut off during high-speed operation by emer-

gency stop or safety functions, these mechanical stoppers prevent the axis

from exceeding the movement range. The R-axis has no mechanical stopper.

The movement range is the area limited by mechanical stoppers.

WARNING

Axis movement does not stop immediately after the servo power

supply is shut off by emergency stop or other safety functions.

(5) Z-axis (vertical axis) brake (Option)

An electromagnetic brake can be installed to the Z-axis as an option, to prevent

the Z-axis from sliding down when the servo power is turned off. This brake is

working when the controller is off or the Z-axis servo power is off even when

the controller is on. The Z-axis brake can be released by means of the pro-

gramming unit or by a command in the program when the controller is on.

WARNING

The Z-axis will slide down when the Z-axis brake is released, caus-

ing a hazardous situation.

• Press emergency stop button and prop the Z-axis with a support

stand before releasing the brake.

• Use caution not to let your body get caught between the Z-axis and

installation base when releasing the brake to perform direct teach.

WARNING

Axis movement does not stop immediately after the servo power

supply is shut off by emergency stop or other safety functions.

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Yamaha DRCX User Manual Page 21