Emergency Stop - Epson G10 Series Manual

Setup & Operation 1. Safety

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.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory while the robot system stops is different from that in normal
operation.
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.
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
Conditions for Measurement
Accel Setting
Speed Setting
Load [kg]
Weight Setting
Point where the
emergency stop
signal is input
6
Weight of the end effector
Weight
G10 G20
100 100
100 100
10 20
10 20
Joint #1
Joint #2
Controller
Manipulator
Free running Joint #1 + Joint #2
time
Joint #3
Joint #1
Free running
Joint #2
angle
Joint #1 + Joint #2
Free running Joint #3 G10/G20-**1**[mm]
distance
Weight of work piece
Speed
Stop point
[sec.]
[sec.]
[deg.]
[deg.]
[deg.]
G10/G20-**4**
Contact us for details of G10-65*** or G20-85***.
Operating pose
Accel etc.
Start point of
operation
Target point
RC180
G10-85*** G20-A0***
0.7 1.3
0.5 0.8
70 110
50 50
120 160
80
90
160 170
G10 / G20 Rev.2