Epson T3 Series, Safety And Installation

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1. Safety
4 Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15
Peripheral Equipment Design
When designing equipment that removes and supplies parts and materials to the
robot system, ensure that the design provides the operator with sufficient safety. If
there is a need to remove and supply materials without stopping the Manipulator,
install a shuttle device or take other measures to ensure that the operator does not
need to enter a potentially dangerous zone.
Ensure that an interruption to the power supply (power shutoff) of peripheral
equipment does not lead to a dangerous situation. Take measures that not only
prevent a work piece held from being released as mentioned in “End effector Design”
but that also ensure peripheral equipment other than the Manipulators can stop safely.
Verify equipment safety to ensure that, when the power shuts off, the area is safe.
Remote Control
To prevent operation by remote control from being dangerous, start signals from the
remote Controller are allowed only when the control device is set to REMOTE,
TEACH mode is OFF, and the system is configured to accept remote signals. Also
when remote is valid, motion command execution and I/O output are available only
from remote. For the safety of the overall system, however, safety measures are
needed to eliminate the risks associated with the start-up and shutdown of peripheral
equipment by remote control.
Emergency Stop
Each robot system needs equipment that will allow the operator to immediately stop
the system’s operation. Install an emergency stop device that utilizes emergency
stop input from the Controller and all other equipment.
During the emergency stop, the power supplied to the motor for driving the robot is
shut off, and the robot is stopped due to the dynamic brake.
Make sure that all external components that shut off the power in case of emergency
are turned OFF by the emergency stop circuit. Do not design to turn OFF the
Robot Controller by using outputs of all I/O boards. For example, if the I/O board
is faulty, the Controller cannot turn OFF the power of external components. The
emergency stop on the Controller is hardwired to disconnect the motor power from
the robot, but not the external power supplies.
For details of the Safeguard system, refer to the following section.
1.5 Emergency Stop