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6Safety
6.1.2 External input/output signals that can be used for safety protection measures
Table 6-3 ： External input/output signals that can be used for safety protection measures
Signal
External emer -
gency stop
Door switch
Enabling device
input
Stop
Servo OFF
Automatic oper -
ation enable
In servo ON
Waiting
In alarm
［Caution］ The external emergency stop input is prepared as a b contact for safety proposes. Thus, if the emer -
gency stop input circuit is opened when the robot is started up, the robot will not operate. Refer to
Page 99, "6.1.7 Examples of safety
6.1.3 Precautions for using robot
The safety measures for using the robot are specified in the "Labor Safety and Sanitation Rules". An outline of
the rules is given below.
(1) Robot installation
・ Secure sufficient work space required to safely perform work such as teaching and maintenance related to the
robot.
・ Install the controller outside the robot's motion space. (If a safety fence is provided, install outside the fence.)
・ Install the controller where the entire robot operation can be viewed.
・ Install display lamps, etc., to indicate the robot's operation state.
・ Securely fix the robot arm onto the fixing table with the designated bolts.
(2) Prevention of contact with operator
・ Install a safety fence or enclosure so that the operator cannot easily enter the robot's motion space.
・ Install an interlock function that will stop the robot if the safety fence or enclosure door is opened.
(3) Work procedures
・ Create and observe work procedures for the robot teaching, operation, inspection and emergencies.
・ Create hand signals to be followed when several operators are working together.
・ Create displays such as "Teaching in Progress" and "Inspection in Progress" to be put up when an operator is
in the robot's motion space so that other operators will not operate the operation panel (controller, control
panel).
(4) Training
・ Train the operators about the operations, maintenance and safety required for the robot work.
・ Only trained and registered operators must operate the robot.
Participation in the "Special training for industrial robots" sponsored by the Labor Safety and Sanitation Com -
mittee, etc., is recommended for safety training.
(5) Daily inspection and periodic inspection
・ lways inspect the robot before starting daily operations and confirm that there are no abnormalities.
・ Set the periodic inspection standards in view of the robot's ambient environment and operation frequency, and
perform periodic inspections.
・ Make records when periodic inspections and repairs have been done, and store the records for three or more
years.
Safety
6-97
Connection
Parameter
point
Terminal
-
(EMG IN)
-
-
Parallel I/O
STOP
unit or
interface
SRVOFF
AUTOENA
Parallel I/O
SRVON
unit or
interface
STOP
ERRRESET
Functions
This servo power is shut off, and the robot
stops immediately.
The program execution is stopped, and the
robot stops. The servo power is not shut
off.
The servo power can be shut off.
Disables automatic operation when inac -
tive.
The servo power ON/OFF state is output. The servo power ON/OFF state is shown
Outputs that the robot is temporarily
stopped.
Outputs when an alarm occurs in the
robot.
measures"for details.
Usage method
Externally installed emergency stop switch.
Door switch on safety protection fence.
Stopping at high-level error occurrence.
The door switch of the safe protection fence
Enabling device.
The safety switch during teaching work
The robot is stopped when a peripheral
device fault occurs. The servo power is not
shut off.
The robot is stopped when a peripheral
device fault occurs. The servo power is not
shut off.
Door switch on safety protection fence
and alerted with the display lamps.
The temporary stop state is shown and
alerted with the display lamps.
The alarm state is shown and alerted with
the display lamps.
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