Emergency Stop; Free Running Distance In Emergency - Epson RC90 Safety And Installation

1. Safety

1.5 Emergency Stop

Emergency stop motions of the Manipulator vary depending on the controller
firmware. See the section for the Controller firmware of your Controller.

1.5.1 Free running distance in emergency

Controller Firmware Ver. 7.0.2.3 or earlier
If the Manipulator moves abnormally during operation, immediately press the
Emergency Stop switch. The motor power will be turned OFF, and the arm
motion by inertia will be stopped with the electromagnetic brake and dynamic
brake.
However, avoid pressing the Emergency Stop switch unnecessarily while the
Manipulator is running normally. Otherwise, the Manipulator may hit the
peripheral equipment since the operating trajectory while the robot system stops is
different from that in normal operation. It may also result in short life of the
reduction gear unit due to the shock or the electromagnetic brake due to the worn
friction plate.
To place the robot system in emergency mode during normal operation, press the
Emergency Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop
switch circuit.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is
operating. Pressing the switch during the operation makes the brakes work.
This will shorten the life of the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as "Safeguard
Open", make sure to stop the Manipulator using the E-STOP switch of the
Controller.
If the Manipulator is stopped by turning OFF the Controller 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 Controller 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
18 Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6