Epson RC90 Safety And Installation page 20

1. Safety
End Effector Design
Provide wiring and piping that will prevent the robot end effector from releasing
the object held (the work piece) when the robot system power is shut off.
Design the robot end effector such that its weight and moment of inertia do not
exceed the allowable limits. Use of values that exceed the allowable limits can
subject the robot to excessive loads. This will not only shorten the service life of
the robot but can lead to unexpectedly dangerous situations due to additional
external forces applied to the end effector and the work piece.
Design the size of the end effector with care, since the robot body and robot end
effector can interfere with each other.
Peripheral Equipment Design
When designing equipment that removes and supplies parts and materials to the
robot system, ensure that the design provides the operator with sufficient safety.
If there is a need to remove and supply materials without stopping the robot, install
a shuttle device or take other measures to ensure that the operator does not need to
enter a potentially dangerous zone.
Ensure that an interruption to the power supply (power shutoff) of peripheral
equipment does not lead to a dangerous situation. Take measures that not only
prevent a work piece held from being released as mentioned in "End effector
Design" but that also ensure peripheral equipment other than the robots can stop
safely. Verify equipment safety to ensure that, when the power shuts off, the area
is safe.
Remote Control
To prevent operation by remote control from being dangerous, start signals from
the remote controller are allowed only when the control device is set to REMOTE,
TEACH mode is OFF, and the system is configured to accept remote signals.
Also when remote is valid, motion command execution and I/O output are
available only from remote. For the safety of the overall system, however, safety
measures are needed to eliminate the risks associated with the start-up and
shutdown of peripheral equipment by remote control.
Emergency Stop
Each robot system needs equipment that will allow the operator to immediately
stop the system's operation.
emergency stop input from the controller and all other equipment.
During an emergency stop, the power that is supplied to the motor driving the
robot is shut off, and the robot is stopped by dynamic braking.
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Install an emergency stop device that utilizes
Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6