Omron i4H User Manual page 99

Safety Setting Function
Configure E-stop Hardware
Delay
Verify E-stop Hardware Delay
Additional Information
Refer to the Sysmac Studio Robot Integrated System Building Function with Robot Integrated
CPU Unit Operation Manual (Cat. No. W595) for more information about using the Safety Set-
ting functions.
Emergency Stop Check Procedure
Use the following procedure to check for correct emergency stop operation.
1
If a pendant is present in the system, connect it to the XSYSTEM cable.
2
Prepare all emergency stop devices for enabling the robot High Power.
3
Enable the robot High Power with one of the methods described in 4-3-1 Enabling Robot High
Power on page 4-6.
4
Confirm that robot High Power is enabled using the High Power indicator. If robot High Power
is not enabled, refer to Section 5 Troubleshooting on page 5-1 for more information.
5
If XUSR emergency stop status outputs are being monitored by other equipment, confirm that
the signal state transition is detected properly.
6
Activate each and every emergency stop device connected to the system to check that High
Power is disable for all safety equipment. This includes pendant safety devices, Front Panel
safety devices, and any other safety equipment wired to the XUSR connector. After one safety
device check is made, deactivate it, enable High Power again, and make a check for the next
safety device. Repeat 2 to 5 until all safety device functionality is confirmed to be working prop-
erly to complete this procedure.
High Power Indicator Check
The robot monitors current used by the High Power indicator. This is to ensure that a High Power indi-
cator device is connected and functioning properly to satisfy safety requirements.
If the robot does not detect a current between 10 mA to 500 mA when High Power is requested, an
error condition (-924) *Front panel HIGH POWER lamp failure* will be present and High Power will not
be enabled.
The High Power indicator needs to be periodically checked for correct functionality.
The following considerations should be made before beginning the High Power indicator check proce-
dure.
i4H Robots with EtherCAT User's Manual (I661)
The objective of the ESTOP hardware delay feature is to comply with safety
regulations which require the robot to have the capability of disabling High
Power without software intervention in an emergency stop situation.
Configuration will set the delay for the emergency stop timer circuit.
Verification will verify that High Power is disabled without software interven-
tion in an emergency stop situation.
Description
3 Installation
3
3-33