Yamaha RCX222, User Manual

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3-10 3-11
Chapter
3
INST
ALLA
TION
4.5 Installing an external leakage breaker
Since the robot controller drives the motors by PWM control of IGBT, leakage current
flows at high frequencies. This might cause the external leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum
sensitivity current rating (I
Δ
n).
(Check the leakage breaker manufacturer's data sheets to select the optimum product
compatible with inverters.)
c
CAUTION
1. Leak current was measured with a leak tester with a low-pass filter turned
on (100Hz).
• Leak tester: Hioki Electric 3283
2. When using two or more controllers, sum the leakage current of each
controller.
3. Make sure that the controller is securely grounded.
4. Stray capacitance between the cable and FG may vary depending on
the cable installation condition, causing the leakage current to fluctuate.
Leakage current
RCX222 control power supply (L1, N1)
1mA in total
RCX222 main power supply (L, N)
4.6 Installing a circuit protector
An inrush current, which might be from several to more than 10 times higher than the
rated current, flows at the instant the controller is turned on or the robot motors start to
operate. When installing an external circuit protector for the robot controller, select a
circuit protector that provides optimum operating characteristics.
To ensure proper operation, we recommend using a medium to slow response circuit
protector with an inertial delay function. (Refer to the circuit protector manufacturer's
data sheets for making the selection.)
Rated current Operating characteristics
RCX222 control power supply (L1, N1) 3A
Slow type with inertial delay
RCX222 main power supply (L, N) 10A
4. Connecting to the power