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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 zoon. 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 following 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.
Latch Release Switch
The controller software latches the following conditions:
The EMERGENCY connector has an input terminal for a latch release switch that
cancels the latched conditions.
Open
Closed
When the latched TEACH mode is released while the safety door is open, the
NOTE
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.
RC180 Safety and Installation Rev.18
- The safety door is open.
- The operation mode is "TEACH".
: The latch release switch latches conditions that the safety door is
open or the operation mode is "TEACH".
: The latch release switch releases the latched conditions.
2. Installation
59
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