SafetyElectricalTroubleshooting GuideIRB6400 M94APage 1 - 91.6 Safety Control Chain of OperationThe safety control order of operation is based on dual electricalsafety circuits (Run Chains) which interact with the robotcomputer and enable theMOTORS ON mode.The electrical safety circuits consist of several switchesconnected in series, in such a way that ALL of them must beclosed before the robot can be set to MOTORS ON mode.MOTORS ON mode means that power is supplied to themotors.The electrical safety chains are continuously monitored and therobot reverts to the MOTORS OFF mode when a fault isdetected by the computer. MOTORS OFF mode means thatdrive power is removed from the robot’s motors and the brakesare applied.A5A6G SA7A 8E SA9A 10KM 1DRIVES YS TE M ME N ABL IN GDE V I CEA 1A2M SM A NUA LRE DUCEDF ULL AUTOA3A 4A S2 4 V d cA11A 12L IM 1263 V acX 3COM P U TE R E NA B LECO M P UT E R M O T OR S O NK M 3 RE LA YB 5B 6B 7B82 4 V dcB 9B1 0E NA BLI NGDE V IC EB1B2B 3Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
