Yamaha RCX240, Руководство пользователя

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Chapter 3 INSTALLATION Chapter 3 INSTALLATION
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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
RCX240 control power supply (L1, N1)
4mA(MAX)
RCX240 main power supply (L, N)
4.6 Installing a circuit protector
An inrush current, which might be from several to nearly 20 times higher than the rated current,
flows at the instant that 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.)
Example
Rated current Operating characteristics
RCX240 control power supply (L1, N1) 5A
Slow type with inertia delay
RCX240 main power supply (L, N) 15A
4. Connecting to the power