Emergency Stop - Epson C Series Manual

C4 Manipulator 1. Safety
■ Whenever possible, only one person should operate the robot system. If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
■ If the joints are operated repeatedly with the operating angle less than 5 degrees,
they may get damaged early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move each joint larger
than 30 degrees for about once an hour.
CAUTION
■ Oscillation (resonance) may occur continuously in low speed Manipulator motion
(Speed: approx. 5 to 20%) depending on combination of Arm orientation and end
effector load. Oscillation arises from natural oscillation frequency of the Arm and
can be controlled by following measures.

1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the Manipulator
to deceleration motion and stops it at the maximum deceleration speed.
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)
- Impact is applied on the reduction gear unit, and it may result in the short life of the
reduction gear unit.
To place the robot system in emergency mode during normal operation, press the Emergency
Stop switch while the Manipulator is not moving.
Refer to the Robot Controller manual for instructions on how to wire the Emergency Stop
switch circuit.
6
Changing Manipulator speed
Changing the teach points
Changing the end effector load
C series Rev.2