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Appendix-112
Safety block diagram
7 Appendix
Appendix 4: Safety block diagram
Fig.7-3: Safety block diagram
Encoder
PWM gate circuit
Channel A
Safety monitoring
function
Safety monitoring
function
Signal
processing
Signal
processing
Current
sensor
Emergency stop
input
Emergency stop
input
Signal
processing
Signal
processing
Control block
PWM
Servo block
PWM
Gate status
Gate control
signal
Gate control
signal
Inverter
Robot arm
Servo CPU block
Safety function
block 1
Safety function
block 2
Motor
Data comparison
Encoder
feedback
Current
feedback
Channel B
Position data
Encoder feedback
Converter
AC power
Содержание CR800-D Series
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