Emergency Stop; Controller Firmware Ver. 7.0.2.3 Or Earlier - Epson LS3-401 series Manipulator Manual

Setup & Operation 1. Safety

1.4 Emergency Stop

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

1.4.1 Controller Firmware Ver. 7.0.2.3 or earlier

If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Stops the power supply to the motor, and the arm stops in the shortest
distance with the dynamic brake and mechanical 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 until 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 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: 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 Emergency Stop switch of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating,
following problems may occur.
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.
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.
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Reduction of the life and damage of the reduction gear unit
Position gap at the joints
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
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.
LS Rev.10