Protective Functions

The robot system is equipped with protective functions to protect peripheral devices and the robot system itself. However, these functions are only intended for unexpected events.

Low power mode
This mode keeps a low motor output.
Execution of a power mode change command allows changing to a restricted state (low power mode) regardless of whether the safeguard is opened or closed and regardless of the operation mode. Low power mode ensures operator safety and reduces the risk of destruction and damage to peripheral equipment due to careless operation.

Dynamic braking
The dynamic brake circuit consists of a relay that short-circuits the motor power wire at the motor side (brake action). When an emergency stop is input, or when the following abnormalities are detected, the dynamic brake is activated to stop motor rotation. (Encoder disconnection detection, overload detection, torque error detection, speed error detection, position deviation overflow detection, speed deviation overflow detection, CPU error detection, memory error detection, overheat detection)

Overload detection
This detects a motor overload state.

Torque error detection
This detects abnormalities in the motor torque.

Speed error detection
This detects abnormalities in the motor speed.

Position deviation overflow detection
This detects abnormalities in the difference between the motion command and the current position.

Speed deviation overflow detection
This detects abnormalities in the difference between the speed command and actual speed.

CPU error detection
A watchdog timer is used to detect abnormalities in the CPU that controls the motor. Also, the CPU that manages the system in the Controller and the CPU that controls the motor constantly monitor each other's status.

Memory error detection
This detects checksum errors in memory.

Overheat detection
This detects temperature abnormalities in the motor driver module.

Relay melting detection
This detects melting or open failure of relay contacts.

Overvoltage detection
This detects overvoltage errors in the Controller.

Power supply voltage drop detection
This detects a drop in the power supply voltage.

Temperature error detection
This detects abnormalities in the Controller temperature.

Fan error detection
This detects abnormalities in the fan speed.