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HX200/HX200L-2000/HX300/HX300L/HX400
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1.10. Safety Functions
1.10.1. Operating a Safety Circuit
EM1
ASG1
TP
EN1
LS1
Man1
Auto1
MOTOR POER ON
MSHP1
Contactor MSHP1
M
Drive
Unit
Computer
Commands
Operating
mode selector
LS Limit switch
ASG AUTO Mode Safeguard
GSG General Safeguard
TP EN Enabling device in T/P
EM Emergency stop switch
&
MSHP2
Contactor MSHP2
&
TP
EN2
Man2
Auto2
+
Operating
mode selector
+
EM2
ASG2
LS2
Interlocking
GSG2
GSG1
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.