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2. Installation
E mergency Stop Switch
2 7 B
If it is desired to create an external Emergency Stop switch(es) in addition to the
Emergency Stop on the Teach Pendant and Operator Panel, make sure to connect
such Emergency Stop switch(es) to the Emergency Stop input terminal on the
EMERGENCY connector.
The Emergency Stop switch connected must comply with the following:
The signal from the Emergency Stop switch is designed to use two redundant
NOTE
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.
indicated later in this section.
C hecking Emergency Stop Switch Operation
2 8 B
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 both the "E-STOP" LEDs on the Control Unit's system panel
and the Drive Unit's front panel are ON.
(3)
Make sure that "E.Stop" is displayed on the status bar on the main window.
(4)
Release the Emergency Stop Switch.
(5)
Execute the RESET command.
(6)
Make sure that "E-STOP" LEDs are turned OFF and the "Emergency Stop"
is no longer visible (or dimmed) from the status bar.
For the Emergency Stop condition to work with the peripheral equipment at the
NOTE
input of the Emergency Stop at the Drive Unit via the EMERGENCY connector,
make sure that the desired equipment is connected to the Emergency Stop output
terminals.
(normally closed) will open at the input of Emergency Stop state.
34
- 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 relay contacts at the EMERGENCY connector (#5 & #6)
Refer to Circuit Diagrams
RC520 Safety and Installation Rev.2
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