Yamaha YK120X, YK180X Robot Safety Functions, Overload detection, Overheat detection, Soft limits

CHAPTER 1 Using the Robot Safely

4 Robot Safety Functions

(1) Overload detection

This function detects an overload applied to the motor and shuts off the servo power. If an overload error occurs, take the following measures.

1.Insert a timer in the program.

2.Reduce the acceleration coefficient.

(2)Overheat detection

This function detects an abnormal temperature rise in the driver inside the controller and shuts off the servo power. If an overheat error occurs, take the following measures.

1.Insert a timer in the program.

2.Reduce the acceleration coefficient.

(3)Soft limits

Soft limits can be set on each axis to limit the working envelope in manual operation after return-to-origin and during automatic operation.

Note: The working envelope is the area limited by soft limits.

(4) Mechanical stoppers

If the servo power is suddenly shut off during high-speed operation by emer- gency stop or safety functions, these mechanical stoppers prevent the axis from exceeding the movement range.

On the X-axis, Y-axis arm, mechanical stoppers are fixed at both ends of the maximum movement range.

The Z-axis has a mechanical stopper at the upper end and lower end. No mechanical stopper is provided on the R-axis.

Note: The movement range is the area limited by mechanical stoppers.

WARNING

Axis movement will not stop immediately after the servo power supply is shut off by emergency stop or other safety functions.

(5) Z-axis (vertical axis) brake

An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from sliding down when servo power is turned off. This brake is working when the controller is off or the Z-axis servo power is off even when the controller is on. The Z-axis brake can be released by means of the pro- gramming unit or by a command in the program when the controller is on.

WARNING

The Z-axis will slide down when the Z-axis brake is released, creating a haz- ardous situation.

•Press the emergency stop button and prop the Z-axis with a support stand before releasing the brake.

•Use caution not to let your body get caught between the Z-axis and installa- tion base when releasing the brake to perform direct teach.

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