Safeguard - Epson LS-B Series Manual

Stopping distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed. In addition, stopping time and stopping distance vary by following factors:
For stopping time and stopping distance of the Manipulator, refer to "Appendix B: Stopping
Time and Stopping Distance 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 : The robot stops immediately, motors are turned OFF, and further
Safeguard closed : The robot can automatically operate in unrestricted (high power) state.
Do not open the safeguard unnecessarily while motor is ON. Frequent safeguard inputs
affect the life of the relay.
Rough normal relay life: Approximately 20,000 timesFor the safeguard, do not use the E-
STOP circuit.
For details of wiring instructions, refer to the following manual:
RC90 series Manual - 9. EMERGENCY
For details of Safeguard, refer to the following manual:
RC90 series Manual - 2.7.1 Connection to EMERGENCY Connector
NOTE

Test pulse cannot be used with the safeguard input of this model.
■ 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.
WARNING
■ The time to stop the robot and the stopping distance by the safeguard interlock
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.
Stopping distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. In
addition, stopping time and stopping distance vary by following factors:
For stopping time and stopping distance of the Manipulator, refer to "Appendix C: Stopping
Time and Stopping Distance When the Safeguard is Opened".
LS-B series Rev.5
Hand weight WEIGHT Setting
Workpiece weight SPEED Setting
operation is impossible until either the safeguard is closed or TEACH
or TEST mode is turned ON and the enable circuit is engaged.
Hand weight WEIGHT Setting
Workpiece weight SPEED Setting
LS3-B LS6-B Manipulator 1. Safety
ACCEL Setting
Posture etc.
ACCEL Setting
Posture etc.
9