3 Controller
Emergency stop input and output etc. 3-47
3.6.3 Door switch function
This function retrieves the status of the switch installed on the door of the safety fence, etc., and stops the robot
when the door is opened. This differs from an emergency stop in that the servo turns OFF when the door is
opened and an error does not occur. Follow the wiring example shown in
Fig. 3-10
, and wire so that the contact
closes when the door is closed. Details of this function according to the robot status are shown below.
・ During automatic operation ............. When the door is opened, the servo turns OFF and the robot stops. An error
occurs.
The process of the restoration : Close the door, reset the alarm, turn on the
servo, and restart
・ During teaching ...................................... Even when the door is opened, the servo can be turned ON and the robot
moved using the teaching pendant.
Fig.3-12 ： Door switch function
Safeguard
Turns OFF the servo
STOP!!
Open
TEACH
AUTO
(Ext.)
AUTO
(Op.)
Open
TEACH
AUTO
(Ext.)
AUTO
(Op.)
The servo can be turned ON/Off
by turning the enable switch ON/OFF.
Safeguard
Teaching
pendant
Robot arm
(Example)
Robot arm
(Example)
① Auto executing
② Teaching
