Safeguard - Epson C Series Manual

C12 Manipulator 1. Safety

1.5 Safeguard

To ensure safe operation, install a safety system using safety doors, light curtains, safety
floor mats, etc.
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
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 following manuals.
For details of the safeguard, refer to the following manuals as well.
■ 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.
WARNING
■ The time to stop the robot and the stopping distance by the safeguard interlock
function will change depending on the conditions of use. Be sure to confirm that
safety is ensured according to the installation environment of the robot.
Free running distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. In
addition, time and distance of the free running vary by following factors:
For time and distance of the Manipulator free running, refer to Appendix C: Time and
Distance of Free Running When the Safeguard is Opened.
172
: 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.
RC90 series Manual 9. EMERGENCY
RC700 series Manual 11. EMERGENCY
RC90 series Manual 2.7.1 Connection to EMERGENCY Connector
RC700 series Manual 2.7.1 Connection to EMERGENCY Connector
Hand weight WEIGHT Setting
Workpiece weight SPEED Setting
ACCEL Setting
Posture etc.
C series Rev.2