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Setup & Operation 6. EMERGENCY
6.2 Emergency Stop Switch Connection
6.2.1 Emergency Stop Switch
If it is desired to add an external Emergency Stop switch(es) in addition to the Emergency
Stop on the Teach Pendant, be sure to connect such Emergency Stop switch(es) to the
Emergency Stop input terminal on the EMERGENCY connector.
The Emergency Stop switch connected must comply with the following:
- It must be a push button switch that is "normally closed".
- A button that does not automatically return or resume.
- The button must be mushroom-shaped and red.
- The button must have a double contact that is "normally closed".
The signal from the Emergency Stop switch is designed to use two redundant circuits.
NOTE
If the signals at the two circuits differ by two seconds or more, the system recognizes it as
a critical error. Therefore, make sure that the Emergency Stop switch has double
contacts and that each circuit connects to the specified pins on the EMERGENCY
connector at the
6.2.2 Checking Emergency Stop Switch Operation
Once the Emergency Stop switch is connected to the EMERGENCY connector, continue
the following procedure to make sure that the switch functions properly. For the safety
of the operator, the Manipulator must not be powered ON until the following test is
completed.
(1) Turn ON the
(2)
(3) Make sure that "E.Stop" is displayed on the main window status bar.
(4) Release the Emergency Stop Switch.
(5) Execute the RESET command.
(6) Make sure that
6.2.3 Recovery from Emergency Stop
To recover from the emergency stop condition, follow the procedure of safety check as
required by the system.
After safety check, the operations below are required to recover from the emergency stop
condition.
- Release the Emergency Stop Switch
- Execute the RESET command
32
Drive Unit
. Refer to the Setup & Operation 6.4
Drive Unit
switch.
Make sure that
"ERROR/E-STOP" LED
"ERROR/E-STOP" LED
main window status bar.
to boot the software while pressing the Emergency Stop
on
Drive Unit
turns OFF and "E-Stop" display fades on the
Circuit and Wiring
has been turned ON.
RC620DU Rev.5
.
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