2.6.5 Emergency Stop Switch
If it is desired to create an external Emergency Stop switch in addition to the
Emergency Stop on the Teach Pendant and Operator Panel, make sure to connect
such Emergency Stop switch 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.
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 Controller. Refer to the Controller Manual
RC90 Setup & Operation: Circuit Diagrams.
2.6.6 Checking Emergency Stop Switch Operation
Refer to 3.2 Development PC and Controller Connection and connect the
development PC and Controller before checking the function.
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 Controller to boot the controller software while pressing the
Emergency Stop switch.
(2) Make sure that E-STOP LED of the controller is lighting.
(3) Make sure that “E.Stop” is displayed on the status bar.
(4) Release the Emergency Stop Switch.
(5) Execute the RESET command.
(6) Make sure that E-STOP LED is turned OFF and that “E-Stop” is dimmed on
the main window status bar.
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