2. Installation
RC520 Safety and Installation Rev.2
33
The EMERGENCY connector has an input terminal for a latch release switch that
cancels the latched conditions.
Open
: The latch release switch latches conditions that the safety door is open
or the operation mode is for teaching.
Closed : The latch release switch releases the latched conditions.
When the latched operation mode for teaching is released while the safety door is
open, the status of Manipulator power is operation-prohibited because the safety
door is open at that time.
To execute a Manipulator operation, close the safety door again, and then close the
latch release input.
26B
Checking Latch Release Switch Operation
After connecting the safety door switch and latch release switch to the
EMERGENCY connector, be sure to check the switch operation for safety by
following the procedures described below before operating the Manipulator.
(1)
Turn ON the Controller while the safety door is open in order to boot the
controller software.
(2)
Make sure that “Safety” is displayed on the main window status bar.
(3)
Close the safety door, and turn ON the switch connecting to the latch release
input. Make sure that the “Safety” is dimmed on the status bar.
The information that the safety door is open can be latched by software based on
the latch release input condition.
Open
: The latch release switch latches condition that the safety door is open.
To cancel the condition, close the safety door, and then close the
safety door latch release input.
Closed : The latch release switch does not latch the condition that the safety
door is open.
The latch release input also functions to acknowledge the change of operation
mode for teaching.
In order to change the latched condition of the operation mode for teaching, turn
the mode selector switch on the operation unit to the mode for normal or turn the
ATTEND (TEACH) control device enable/disable switch to “disable”. Then,
close the latch release input.
NOTE
NOTE
