Installation 2. Installation
RC700 Series Rev.3 35
Stopping distance in emergency
The Manipulator in operation cannot stop immediately after the Emergency Stop switch is
pressed. In addition, stopping time and stopping distance vary by following factors:
Hand weight WEIGHT Setting ACCEL Setting
Workpiece weight SPEED Setting Posture etc.
For stopping time and stopping distance, refer to the following manual:
Manipulator Manual
Appendix B. Stopping Time and Stopping Distance in Emergency
2.6.8 Safeguard
To ensure safe operation, install a safety system using safety doors, light curtains, safety
floor mats, etc.
When installing the safeguard system, strictly observe the following points:
Install the safeguard which has safety function more than PLd.
Safety features of Safety Door Input: Category 3, PLd (reference ISO13849-1 2015)
Stop category of Safety Door Input: Category 1, (refer Safety Standard IEC60204-1)
Test pulse cannot be used with the safeguard input of this model.
Refer to each manipulator manual and install the safeguard system outside the maximum
space. Carefully consider the size of the end effector and the work pieces to be held so that
there will be no error between the moving parts and the safeguard system.
Manufacture the safeguard system to withstand calculated external forces (forces that will
be added during operation and forces from the surrounding environment).
When designing the safeguard system, make sure that it is free of sharp corners and
projections, and that the safeguard system itself is not a hazard.
Make sure that the safeguard system can only be removed by using a tool.
There are several types of safeguard devices, including safety doors, safety barriers, light
curtains, safety gates, and safety floor mats. Install the interlocking function in the
safeguard device. The safeguard interlock must be installed so that the safeguard interlock
is forced to work in case of a device failure or other unexpected accident. For example,
when using a door with a switch as the interlock, do not rely on the switch’s own spring
force to open the contact. The contact mechanism must open immediately in case of an
accident.
Connect the interlock switch to the safeguard input of the drive unit’s EMERGENCY
connector. The safeguard input informs the robot controller that an operator may be inside
the safeguard area. When the safeguard input is activated, the robot stops immediately and
enters pause status, as well as either operation-prohibited status or restricted status (low
power status).
It is dangerous to allow someone else to release the safeguard interlock by mistake while
the operator is working inside the safeguarded area. To protect the operator working inside
the safeguarded area, take measures to lock out and tag out the latch-release switch.
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