Emergency Stop - Epson RS Series Manual

1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance
with the dynamic brake and mechanical brake.
Avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running
normally.
- The Manipulator may hit the peripheral equipment.
When you press the Emergency Stop switch, the operating trajectory until the robot
system stops is different from that in normal operation.
- The life of the brakes will be shortened.
The brakes are locked and the brake friction plate is worn.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
However, the rough normal relay life is approximately 20,000 times. If you press the
emergency stop switch unnecessarily, the life of the relay will be shortened.
- Impact is applied on the reduction gear unit, and it may result in the short life of the
reduction gear unit.
To place the system in emergency mode during normal operation, press the Emergency Stop
switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.
Pressing the switch during the operation makes the brakes work. This will shorten the life
of the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations, make sure to stop the
Manipulator using the E-STOP of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating, following
problems may occur.
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power restoration.
If there is a position gap, perform calibration by referring to the RS series Maintenance
Manual 13. Calibration in this manual.
Before using the Emergency Stop switch, be aware of the followings.
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RS series Rev.4
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
For the Safeguard system, do not use the circuit for E-STOP.
RS3 RS4 Manipulator 1. Safety
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