Epson RC90 Safety And Installation page 37

Controller Firmware Ver. 7.0.2.4 or later
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.
However, avoid pressing the Emergency Stop switch unnecessarily while the
Manipulator is running normally. Pressing the Emergency Stop switch locks the
brake and it may cause wear on the friction plate of the brake, resulting in the short
life of the brake.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
To place the 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 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 Emergency 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
If there is a position gap, perform calibration by referring to the Maintenance 13.
Calibration in this manual.
Before using the Emergency Stop switch, be aware of the followings.
- 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.
Safety and Installation (RC90 / EPSON RC+ 7.0) Rev.6
1. Safety
21