PreCise PF3400, Справочник по аппаратуре

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PreciseFlex_Robot
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error will be generated and will generate either a Category 2 or Category 1 Estop, depending on
the magnitude of the error. The controller continuously monitors the commanded robot trajectory
versus the actual position at a rate of 2000Hz. If the position error exceeds a threshold, typically
set to a few tenths of a degree, the controller stops the robot motion. This function works at all
times if the controller CPU is operating
. This can be demonstrated by pushing on the robot while
stationary to generate a position envelope error. There are redundant monitor functions that
check that the position error and force limits are operating correctly.
This is a CAT 3 compliant
function. TUV has verified this fail-safe operation.
10. Motor overheating . Precise controllers have a “motor duty cycle” monitor which computes the
average power level in a motor and shuts down the motor power if a maximum permissible power
level is exceeded. This can be demonstrated by driving an axis back and forth rapidly enough
that the maximum duty cycle is exceeded and the motor power is turned off.