Epson RC700-D, Manual

Page: 38 / 206

Installation 2. Installation
22 RC700-D Rev.2
Do not turn OFF the Controller while the Manipulator is operating.
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.
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.
To check brake problems, refer to the following manuals.
Manipulator Manual Inspection Point 1.1.2 Inspection Item
Free running distance in emergency
The Manipulator in operation cannot stop immediately after the Emergency Stop switch is
pressed. Also, time, angle, and distance of the free running vary by following factors:
Hand weight WEIGHT Setting ACCEL Setting
Workpiece weight SPEED Setting Posture etc.
For approximate time and distance of the free running, refer to the following manual:
Manipulator Manual
Appendix B. Time and Distance of Free Running in Emergency
2.6.8 Safeguard
To ensure safe operation, install a safety system using safety doors, light curtains, safety
floor mats, etc.
When installing the safeguard system, strictly observe the following points:
Install the safeguard which has safety function more than PLd.
Safety function of Safety Door Input: Category 3, PLd (reference ISO13849-1 2015)
Stop category of Safety Door Input: Category 1 (reference IEC60204-1 2016)
Refer to each manipulator manual and install the safeguard system outside the maximum
space. Carefully consider the size of the end effector and the work pieces to be held so that
there will be no error between the moving parts and the safeguard system.
Manufacture the safeguard system to withstand calculated external forces (forces that will