Epson RC520 Safety And Installation page 40

2. Installation
S afety Door Switch
2 4 B
The interlock of the Safety Door
In order to maintain a safe working zone, a safeguard must be erected around the
Manipulator. The safeguard must have an interlock switch at the entrance to the
working zoon. The Safety Door that is described in this manual is one of the
safeguards and an interlock of the Safety Door is called a Safety Door switch.
Connect the Safety Door switch to the Safety Door input terminal on the
EMERGENCY connector.
The Safety Door switch has safety features such as temporary hold-up of the ｓ
program or the operation-prohibited status that are activated whenever the Safety
Door is opened.
Observe the following in designing the Safety Door switch and the Safety Door.
- For the Safety Door switch, select a switch that opens as the Safety Door
opens, and not by the spring of the switch itself.
- The signal from the Safety Door (Safety Door input) is designed to input to
two redundant signals. If the signals at the two inputs differ by two seconds
or more, the system recognizes it to be a critical error. Therefore, make sure
that the Safety Door switch has two separate redundant circuits and that each
connects to the specified pins at the EMERGENCY connector on the
Controller.
-
L atch Release Switch
2 5 B
The controller software latches the following conditions:
- The safety door is open.
- The operation mode is for teaching.
32
: The interlock of the Safety Door must be functioning when the robot
system is operated. Do not operate the system under the condition
that the switch cannot be turned ON/OFF (e.g. The tape is put
around the switch.). Operating the robot system when the switch is
not functioning properly is extremely hazardous and may cause
serious safety problems as the Safety Door input cannot fulfill its
intended function.
The Safety Door must be designed and installed so that it does not close
accidentally.
RC520 Safety and Installation Rev.2