Protection Features
The PG Motion System supports protection features that work via Controller’s safety functions and the software, and standard protective features.
The following table describes how each system protection feature is supported for PG robots.
The protection features that work via Controller’s safety functions and the software
| Protection Features | Supported Function on the PG Board |
|---|---|
| Emergency Stop | Stop generating pulse. This emergency stop function is supported only by the software. Emergency stop must also be supported in hardware also. Make sure to install an additional circuit for the purpose of stopping the motor physically in case of emergency. In particular, the way of turning off the main power of the motor driver is described below. RC700/RC90: Typical Application of Emergency Stop Circuit For more details, refer to the Robot Controller manual. RC700-E/RC800-A: Typical Application of Safety Output |
| Safeguard | The safeguard input is notified through the software then decelerates and stops. |
| Enable Switch | The enable switch input is notified through the software. If the switch is gripped, the pulse input will turn ON, and the switch is gripped harder, the pulse input will turn OFF. |
The standard protective features
| Protection Features | Supported Function on the PG Board |
|---|---|
| High/Low Power Mode | The function of this mode is same as for a standard robot. The acceleration/deceleration is set as follows for the Low Power and High Power state respectively:
|
| Mode Switch | If the mode is changed, the pulse will stop. |