Epson T-B Series User Manual

T3-B T6-B Manipulator 1. Safety
T-B series Rev.1 31
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the manipulator to
deceleration motion and stops it at the maximum deceleration speed.
Avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running
normally.
- The Manipulator may hit the peripheral equipment.
When you press the Emergency Stop switch, the operating trajectory until the robot
system stops is different from that in normal operation.
- The life of the brakes will be shortened.
The brakes are locked and the brake friction plate is worn.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
- Impact is applied on the reduction gear unit, and it may result in the short life of the
reduction gear unit.
To place the system in emergency mode during normal operation, press the Emergency Stop
switch when the Manipulator is not moving.
Refer to “11. EMERGENCY” for instructions on how to wire the Emergency Stop switch
circuit.
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations, make sure to stop the
Manipulator using the E-STOP of the Controller.
If the Manipulator is stopped by turning OFF the power while it is operating, following
problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the manipulator 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 by referring to “T-B series Maintenance
Manual 17. Calibration”. Also, the same troubles may occur if an error occurs and the
Manipulator stops in emergency during the operation. Check the Manipulator condition and
perform calibration if necessary.
Before using the Emergency Stop switch, be aware of the following.
- 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-STOP.

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English