Checking the switch function
After the safeguard switch and latch release switch is connected to the EMERGENCY connector, be sure to use the following procedure to check the function of the switch to ensure safety before operating the Manipulator.
- While the safeguard is open, turn on the power to start up the Manipulator.
- Make sure that "Safety" is displayed on the status bar on the screen.
- Close the safeguard and turn on the switch connected to the latch release input.
Make sure that "Safety" no longer appears on the status bar.
KEY POINTS
Controller activation may fail when the safeguard switch is input during the initialization immediately after turning ON the controller. In this case, delay the input timing of the safeguard switch.
The information that the safeguard is open can be latched by software based on the latch release input condition. To cancel the latched condition, close the safeguard, and then close the safeguard latch release input.
Latch release input open : The latch release switch latches the condition that the safeguard is open.
Latch release input closed : The latch release switch does not latch the condition that the safeguard is open.
KEY POINTS
The latch release input also serves as a latch release input to confirm the change from the TEACH mode. In order to change from the TEACH mode, turn the mode selector key switch on the Teach Pendant to “Auto”. Then, close the latch release input.