Installation 2. Installation
34 RC700 Series Rev.3
The emergency stop circuit should also remove power from all external components that
must be turned off during an emergency. Do not assume that the robot controller will turn
off all outputs if configured to. For example, if an I/O card is faulty, the controller cannot
turn off a component connected to an output. The emergency stop on the controller is
hardwired to remove motor power from the robot, but not external power supplies.
Do not press the Emergency Stop switch unnecessarily while the Robot is operating.
Pressing the switch during the operation makes the brakes work. This will shorten the life
of the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
However, the rough normal relay life is approximately 20,000 times. If you press the
emergency stop switch unnecessarily, the life of the relay will be shortened.
Also, the Emergency Stop during operation applies impact on the reduction gear unit, and
it may result in the short life of the reduction gear unit.
Following may result in the short life when stopping the operation by pressing emergency
switch in the manipulator working properly.
Brakes
Reduction gear unit
To place the robot system in emergency mode during normal operation, press the
Emergency Stop switch while the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Do not turn OFF the Controller while the Manipulator is operating.
If the Manipulator is stopped by turning OFF the Controller while it is operating, the
following problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power
restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration.
For the calibration, refer to the “Manipulator Maintenance Manual”.
Before using the Emergency Stop switch, be aware of the followings.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
- To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
- For the Safeguard system, do not use the circuit for E-STO P.
To check brake problems, refer to the following manuals.
Manipulator Manual Inspection Point 1.1.2 Inspection Item
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