HX200/HX200L-2000/HX300/HX300L/HX400

1.10.Safety Functions

1.10.1.Operating a Safety Circuit

Contactor MSHP1

Contactor MSHP2

Drive

Unit

M

 

 

 

 

 

MSHP1

MSHP2

 

 

 

&

 

Interlocking

Operating

 

 

 

 

 

 

mode selector

 

 

 

 

 

 

Man1

 

 

 

 

 

ON

+

 

 

 

 

 

 

 

 

 

 

 

Auto1

ASG1

GSG1

EM1

LS1

 

POERMOTOR

TP

 

 

 

 

 

 

 

EN1

 

 

 

 

 

 

 

 

 

 

 

Computer

 

 

 

 

 

Commands

&Operating

mode selector

 

 

 

 

Man2

 

 

 

 

+

 

 

 

 

Auto2

LS2

EM2

GSG2

ASG2

TP

EN2

 

 

 

 

LS

 

 

Limit switch

ASG

 

AUTO Mode Safeguard

GSG

 

General Safeguard

TP EN

 

Enabling device in T/P

EM

 

 

Emergency stop switch

Fig 1.5 Robot’s Safety Circuit

The robot's safety system is based on a two-channel safety circuit that is continuously monitored. If an error is detected, the power supply to the motors is disconnected and the motor brake is applied. To return the robot to MOTORS ON mode, the switches of two-channel circuit must be connected. If one of the two-channel circuit switches shorts, the contactor of motor will be disconnected leading to the application of brake, and finally the robot will be stopped. Furthermore, when safety circuit is disconnected, the interrupting call will be sent automatically to the controller to find out the possible reason for the interruption.

The safety control circuit of operation is based on dual safety electric circuit in which the controller and MOTORS ON mode are operated inteactively. In order to be in MOTORS ON mode, the safety circuit consisted of several swtiches must be all connected. MOTORS ON mode indicates that drive power is supplied to the motors. If one of the contactors is disconnected, the robot will always return to MOTORS OFF mode.

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