Epson C8 Series, Manipulator Manual

Page: 21 / 346

Setup & Operation 1. Safety
C8 Rev.13 7
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the Manipulator
to deceleration motion and stops it at the maximum deceleration speed.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory until the robot system stops is different from that in normal operation.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.
Pressing the switch during operation makes the brakes work. This will shorten the life of
the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
Also, the Emergency Stop during operation applies impact on the reduction gear unit, and it
may result in the short life of the reduction gear unit.
To place the robot system in emergency mode during normal operation, press the Emergency
Stop switch while the Manipulator is not moving.
Refer to the Robot Controller manual for instructions on how to wire the Emergency Stop
switch circuit.
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,
make sure to stop the Manipulator using the Emergency Stop switch of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating, the
following problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to the
Maintenance 16.
Calibration in this manual.
Before using the Emergency Stop switch, be aware of the followings.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
- To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
- For the Safeguard system, do not use the circuit for E-STOP.