Installation 2. Installation
36 RC700 Series Rev.3
WARNING
■
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.
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.
: 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.
: The robot can automatically operate in unrestricted (high power) state.
Do not open the safeguard unnecessarily while motor is ON. Frequent safeguard inputs
affect the life of the relay.
Rough normal relay life: Approximately 20,000 times
For the safeguard, do not use the E-STOP circuit.
For details of wiring instructions, refer to the “11
．
Emergency”.
For details of the safeguard, refer to the following manuals as well.
2.7.1 Connection to EMERGENCY Connector
Stopping distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. 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 of the Manipulator refer to the following manual.
Manipulator Manual
Appendix C: Time and Distance of Free Running When the Safeguard is Opened.
2.6.9 Presence Sensing Device
The above mentioned safeguard interlock is a type of presence sensing device, since it
indicates the possibility of somebody being inside the safeguard system. When separately
installing a presence sensing device, however, perform a satisfactory risk assessment and
pay thorough attention to its dependability.
Here are precautions that should be noted:
- Design the system so that when the presence sensing device is not activated or a
dangerous situation still exists that no personnel can go inside the safeguard area or
place their hands inside it.
- Design the presence sensing device so that regardless of the situation the system
operates safely.
- If the robot stops operating when the presence sensing device is activated, it is
necessary to ensure that it does not start again until the detected object has been
removed. Make sure that the robot cannot automatically restart.
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