1. Safety
MOTORS OFF mode indicates that drive power is removed from the robot's motors and the brakes are applied. The status of the switches is displayed on the teach pendant. (Refer to the I/O monitoring screen of "SERVICE" menu, 『Hi4a controller operation manual』.)
Safety circuit
The emergency stop buttons on the controller panel and on the teaching pendant and external emergency stop buttons are included in the safety circuit of operation. Users may install the safety devices (safety plug, safety stop device for safe place) which are operated in the AUTO mode. In a manual mode, the signals of these safety devices are ignored. You can connect the general safety stop devices that is active in all operating modes. No one can enter the working envelope in an automatic operation mode due to the unconditional operation of the safety devices (door, safety mat, safety plug etc.). These signals are also generated in a manual mode, but the controller will keep the robot operating while ignoring the robot's teaching. In this case, maximum speed of robot is restricted to 250mm/s. Thus, the purpose of this safety stop function is to secure the safe area around the manipulator while one approaches the robot for maintenance and teaching.
When the robot is stopped by a limit switch, it can be moved from the position by jogging it with the operation key on the teaching pendant. (Refer to constant setting, 『Hi4a controller operation manual』.)
The safety circuits must never be