IAI X-SEL, Руководство по эксплуатации

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Part 1 Installation
Chapter 6 Safety Circuit
Part 1 Installation
Chapter 6 Safety Circuit
The circuit configuration for embodying safety actions such as emergency stop is different between the standard
specification and global specification of the XSEL controller.
The standard controller has a built-in drive-source cutoff circuit conforming to safety category B.
The global controller has no built-in drive-source cutoff circuit so that the user can configure an external safety
circuit appropriate for their equipment configuration.
1. Items to Notes
The following explains the items to note regarding the safety circuit, which apply to both the standard
specification and global specification.
1. Overview of emergency-stop action
The emergency-stop control line (drive-source cutoff control line) consists entirely of hard wires. When an
emergency-stop operation is performed, the controller will execute a stop action of category 1. Specifically, it
will stop the actuator at the deceleration for emergency stop as specified by a parameter, and turn off the
servo. At this time, the drive source will also be cut off inside the standard controller. With the global
controller, the drive source must be cut off externally to the controller.
As for recovery from an emergency-stop state (including recovery of the drive source), an automatic reset
using the emergency-stop switch or a method requiring both an emergency-stop switch action and an
external input signal can be selected by a parameter (I/O parameter No. 44).
During an emergency stop, the status can be output to an external device (set by I/O parameter No. 48).
2. Overview of enabling action
Enabling operation (via the safety gate or the deadman switch on the teaching pendant) implements an
action similar to the emergency-stop action, except that an emergency-stop status is not output.
3. Controller operation modes and safety switches on the teaching pendant
The deadman switch on the teaching pendant is enabled only when the controller is in the MANU mode. The
emergency-stop switch on the teaching pendant is always enabled as long as the teaching pendant is
connected to the controller.
4. Connecting a teaching pendant while the controller is operating in the AUTO mode
Connecting a teaching pendant to the controller or removing the connected teaching pendant while the
controller is operating in the AUTO mode may trigger an emergency stop. Do not connect/remove a teaching
pendant while the controller is operating in the AUTO mode.
5. Applying voltage to the system I/Os
The safety circuit of the XSEL controller is designed to operate with 24 VDC. Therefore, never apply 100 or
200 VAC to the system I/Os. Doing so may damage the internal circuits of the controller.
The following pages explain the safety circuit of each controller specification in details.