Designing A Safe Robot System - Epson T3 Series Safety And Installation

1.2.2 Designing a Safe Robot System

It is important to operate Manipulator safely. It is also important for Manipulator
users to give careful consideration to the safety of the overall robot system design.
This section summarizes the minimum conditions that should be observed when
using Epson Manipulator in your robot systems.
Please design and manufacture robot systems in accordance with the principles
described in this and the following sections.
Environmental Conditions
Carefully observe the conditions for installing Manipulator and robot systems that
are listed in the "Environmental Conditions" tables included in the manuals for all
equipment used in the system.
System Layout
When designing the layout for a robot system, carefully consider the possibility of
error between Manipulator and peripheral equipment. Emergency stops require
particular attention, since a robot will stop after following a path that is different
from its normal movement path.
margins for safety. Refer to the manuals for each Manipulator, and ensure that the
layout secures ample space for maintenance and inspection work.
When designing a robot system to restrict the area of motion of the Manipulator, do
so in accordance with the methods described in each Manipulator manual. Utilize
both software and mechanical stops as measures to restrict motion.
Install the emergency stop switch at a location near the operation unit for the robot
system where the operator can easily press and hold it in an emergency.
End Effector Design
Provide wiring and piping that will prevent the Manipulator end effector from
releasing the object held (the work piece) when the robot system power is shut off.
Design the Manipulator 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 Manipulator 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 Manipulator body and
Manipulator end effector can interfere with each other.
Safety and Installation (T, VT / EPSON RC+ 7.0) Rev.15
The layout design should provide enough
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