1. Safety
RC520 Safety and Installation Rev.2
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Encoder Cable Disconnection Error Detection
The dynamic brake circuit is activated when the Motor Encoder Signal cable
(connecting to the Drive Unit) is disconnected.
Motor Overload Detection
The dynamic brake circuit is activated when the system detects that the load on the
motor has exceeded its capacity.
Irregular Motor Torque (out-of-control manipulator) Detection
The dynamic brake circuit is activated when irregularity with motor torque (motor
output) is detected (in which case the Manipulator is out of control).
Motor Speed Error Detection
The dynamic brake circuit is activated when the system detects that the motor is
running at incorrect speed.
Positioning Overflow - Servo Error - Detection
The dynamic brake circuit is activated when the system detects that the difference
between the Manipulator’s actual position and commanded position exceeds the
margin of error allowed.
Speed Overflow - Servo Error - Detection
The dynamic brake circuit is activated when the system detects that motor speed
has overflowed.
CPU Irregularity Detection
Irregularity in the motor controlling CPU is monitored by a watch-dog timer.
Also, the system CPU inside the Control Unit and the motor controlling CPU
inside the Drive Unit are designed to constantly check each other for any
discrepancies between the units. If a discrepancy is detected, the dynamic brake
circuit is activated.
Memory Check-sum Error Detection
The dynamic brake circuit is activated when a memory check-sum error is
detected.
