1. Safety
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15 5
Safeguard System
To ensure safety, a safeguard system should be installed for the robot system.
When installing the safeguard system, strictly observe the following points:
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 from sharp corners
and projections, and that the safeguard system itself is not dangerous.
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 Manipulator
EMERGENCY connector. The safeguard input informs the Manipulator that an
operator may be inside the safeguard area. When the safeguard input is activated,
the Manipulator stops immediately and enters pause status, as well as either
operation-prohibited status or restricted status (low power status).
Make sure not to enter the safeguarded area except through the point where the
safeguard interlock is installed.
The safeguard interlock must be installed so that it can maintain a safe condition
until the interlock is released on purpose once it initiates. The latch-release input
is provided for the EMERGENCY connector on the Manipulator to release the latch
condition of the safeguard interlock. The latch release switch of the safeguard
interlock must be installed outside of the safeguarded area and wired to the latch-
release input.
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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