Safeguard - Epson SCARA GX Series Manual

GX4 Manipulator 1. Safety
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed. In addition, time and distance of the free running vary by following factors:
Hand weight
Workpiece weight SPEED Setting
For time and distance of the Manipulator free running, refer to "Appendix B: Time and
Distance of Free Running in Emergency".

1.5 Safeguard

To ensure safe operation, install a safety system using safety doors, light curtains, safety
floor mats, etc.
When a closed safeguard is open during robot motion, the safeguard interlock function
operates. The robot stops immediately and enters into pause state. Then, all robot motors are
turned OFF. The descriptions below explain how the safeguard input works.
Safeguard open
Safeguard closed : The robot can automatically operate in unrestricted (high power) state.
For the Safeguard system, do not use the circuit for E-STOP. For details of wiring
instructions, refer to the following manual:
RC700-D Manual "9. EMERGENCY"
For details of Safeguard, refer to the following manual:
RC700-D Manual "
■ The EMERGENCY connector on the controller has a safeguard input circuit to
connect the safety device interlock switch. To protect operators working near the
robot, be sure to connect the interlock switch and make sure that it works properly.
■ The time to stop the robot and the stopping distance by the safeguard interlock
WARNING
function will change depending on the conditions of use. Be sure to confirm that
safety is ensured according to the installation environment of the robot.
Free running distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. In
addition, time and distance of the free running vary by following factors:
Hand weight
Workpiece weight SPEED Setting
For time and distance of the Manipulator free running, refer to "Appendix C: Time and
Distance of Free Running When the Safeguard is Opened".
8
WEIGHT Setting ACCEL Setting
Posture etc.
: The robot stops immediately, motors are turned OFF, and further
operation is impossible until either the safeguard is closed or TEACH
or TEST mode is turned ON and the enable circuit is engaged.
2.7.
1 Connection to EMERGENCY Connector"
WEIGHT Setting ACCEL Setting
Posture etc.
GX series Rev.2