Epson RC180, Manual

Page: 65 / 264

Setup & Operation 9. EMERGENCY
RC180 Rev.17 53
9.1 Safety Door Switch and Latch Release Switch
The EMERGENCY connector has input terminals for the Safety Door switch and the
Emergency Stop switch. Be sure to use these input terminals to keep the system safe.
Connector Standard
EMERGENCY connector
(Controller side)
D-sub 25 male pin
Mounting style #4 - 40
* The E-STOP BOX, connector cable, terminal block, and connector kit are offered as
options.
9.1.1 Safety Door Switch
WARNING
■
The interlock of the Safety Door must be functioning when the robot system is
operated. Do not operate the system under the condition that the switch cannot
be turned ON/OFF (e.g. The tape is put around the switch.). Operating the robot
system when the switch is not functioning properly is extremely hazardous and
may cause serious safety problems as the Safety Door input cannot fulfill its
intended function.
In order to maintain a safe working zone, a safeguard must be erected around the
Manipulator. The safeguard must have an interlock switch at the entrance to the working
zone. The Safety Door that is described in this manual is one of the safeguards and an
interlock of the Safety Door is called a Safety Door switch. Connect the Safety Door
switch to the Safety Door input terminal on the EMERGENCY connector.
The Safety Door switch has safety features such as temporary hold-up of the program or
the operation-prohibited status that are activated whenever the Safety Door is opened.
Observe the followings in designing the Safety Door switch and the Safety Door.
- For the Safety Door switch, select a switch that opens as the Safety Door opens, and not
by the spring of the switch itself.
- The signal from the Safety Door (Safety Door input) is designed to input to two
redundant signals. If the signals at the two inputs differ by two seconds or more, the
system recognizes it to be a critical error. Therefore, make sure that the Safety Door
switch has two separate redundant circuits and that each connects to the specified pins at
the EMERGENCY connector on the Controller.
- The Safety Door must be designed and installed so that it does not close accidentally.