Epson RC700-D, Manual

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Installation 2. Installation
RC700-D Rev.2 23
be added during operation and forces from the surrounding environment).
When designing the safeguard system, make sure that it is free of sharp corners and
projections, and that the safeguard system itself is not a hazard.
Make sure that the safeguard system can only be removed by using a tool.
There are several types of safeguard devices, including safety doors, safety barriers, light
curtains, safety gates, and safety floor mats. Install the interlocking function in the
safeguard device. The safeguard interlock must be installed so that the safeguard interlock
is forced to work in case of a device failure or other unexpected accident. For example,
when using a door with a switch as the interlock, do not rely on the switch’s own spring
force to open the contact. The contact mechanism must open immediately in case of an
accident.
Connect the interlock switch to the safeguard input of the drive unit’s EMERGENCY
connector. The safeguard input informs the robot controller that an operator may be inside
the safeguard area. When the safeguard input is activated, the robot stops immediately and
enters pause status, as well as either operation-prohibited status or restricted status (low
power status).
Make sure to install the safeguard interlock in the area where workers steps in the inside of
safeguard.
Make sure the safeguard interlock is locked once it is activated, until it is intentionally
released. EMERGENCY connector of the Controller has latch release input to release latch
of safeguard interlock. Install a switch to release latch of safeguard interlock outside of the
safety door, and wire to latch release input.
WARNING
■ It is dangerous to allow someone else to release the safeguard interlock by
mistake while the operator is working inside the safeguarded area. To protect
the operator working inside the safeguarded area, take measures to lock out
and tag out the latch-release switch.
■ The EMERGENCY connector on the controller has a safeguard input circuit to
connect the safety device interlock switch. To protect operators working near
the robot, be sure to connect the interlock switch and make sure that it works
properly.
When a closed safeguard is open during robot motion, the safeguard interlock function
operates. The robot stops immediately and enters into pause state. Then, all robot motors
are turned OFF. The descriptions below explain how the safeguard input works.
Safeguard
open
: The robot stops immediately, motors are turned OFF, and further operation is
impossible until either the safeguard is closed or TEACH or TEST mode is
turned ON and the enable circuit is engaged.
Safeguard
closed
: The robot can automatically operate in unrestricted (high power) state.
For the safeguard, do not use the E-STOP circuit.
For details of wiring instructions, refer to the “ 11
．
Emergency ”.
For details of the safeguard, refer to the following manuals as well.
2.7.1 Connection to EMERGENCY Connector
Free running distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. In