Definitions

This chapter explains the important safety requirements for robotic systems using EPSON RC+ 6.0 and the RC620 Controller.

Installation of robots and robotic equipment should only be performed by qualified personnel in accordance with national and local codes. Please read and understand this entire chapter before using your EPSON RC+ 6.0 system.

Remember that safety is the most important consideration when designing and operating any robotic system.

WARNING

This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.

WARNING

This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are not followed properly.

CAUTION

This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.

2.2 Definitions

2.2.1 Robot Power

The status of robot power is explained below in terms of restriction to operation:

Operation-prohibited status: Robot cannot be operated.

Restricted (low power) status: Robot can operate at low speed and low torque.

Unrestricted (high power) status: Robot can operate without restriction.

The robot will not operate regardless of the control actions taken by the operator when in the operation-prohibited state. During operation, when the safeguard circuit opens, the system will switch to operation-prohibited state.

The robot will operate at low speed and torque in the restricted state (low power). In the unrestricted state (high power), the robot will operate at the programmed speed and torque.

In the event that the robot should make an unexpected movement, the restricted state (low power) decreases operating speed allowing the operator to avoid danger. The torque is also decreased to minimize serious injury to the operator should one be struck by the robot.

The maximum values of the decreased speed and torque are set according to the robot used and cannot be changed by the user.

As a safety precaution the initial power state of the robot will be set to either the restricted (low power) state or the operation-prohibited state. The system will not change to the unrestricted (high power) state if the appropriate procedures are not followed.

2. Safety

2.2.2 Safeguard

To ensure safe operation of the robotic work cell, you must install a safety system using safety doors, light curtains, safety floor mats, etc.

WARNING

■ There is a safeguard input circuit in the EMERGENCY connector on the controller that connects with the safety device interlock switch. In order to protect those working with the robot be sure that the interlock switch is connected and working properly.

If a closed safeguard is open during robot motion, the robot stops immediately and enters pause state. All robot motors are turned off. The descriptions below explain how the safeguard input works.

Safeguard closed: The safeguard input is turned ON. The robot can automatically operate in unrestricted (high power) state.

Safeguard open: The safeguard input is turned OFF, and the interlock function operates. The robot stops immediately, motors are turned off, and further operation is impossible until either the safeguard is closed or Teach mode is turned ON and the enable circuit is engaged.

For further details on the safeguard and interlock, refer to 2.4 Installation and Design Precautions later in this chapter. For detailed wiring instructions, refer to the RC620 Robot Controller manual, Setup & Operation: 8. EMERGENCY.

2.2.3 Operation Modes

The operation mode is defined as the single control point for the controller, therefore you cannot use more than one operation mode at the same time.

There are three operation modes for the controller: AUTO, PROGRAM, and TEACH.

- AUTO operation modes allow you to execute programs in the controller when the safeguard is closed.

- PROGRAM operation mode allows you to execute and debug programs when the safeguard is closed.

- TEACH operation mode allows you to jog and teach the robot at slow speed while inside the safeguarded area.

2.2.4 Start Mode

The Start mode specifies the operation mode for EPSON RC+ 6.0 when it starts.

You can set the EPSON RC+ 6.0 to start in AUTO or PROGRAM mode.

For information on how to change the start mode, refer to 4. Operation.

2. Safety

2.2.5 Changing Operation Mode

You can change from AUTO operation mode or PROGRAM operation mode to TEACH mode by setting the mode selector key switch on the Teach Pendant to the TEACH position.

When the mode selector key switch is changed back to AUTO, the operation mode is returned to previous operation mode (AUTO or PROGRAM).

The AUTO operation mode can be changed to PROGRAM mode during the EPSON RC+

6.0 startup sequence. A password can be used to allow only certain personnel to change the startup operation mode.

When EPSON RC+ 6.0 starts in AUTO operation mode, the AUTO operation mode cannot be changed to PROGRAM operation mode after the system has started. To change the operation mode, restart the system and log into PROGRAM mode, then set the start mode again and restart EPSON RC+ 6.0.

For more information, refer to 4. Operation.

2.2.6 Emergency Stop

The controller is equipped with an emergency stop input terminal. If the normally closed emergency stop circuit is broken, the power supplied to all motors will be shut off (and enter servo-free status) and the robot will be stopped by dynamic braking.

CAUTION

■ The path that the robot will follow from the time the emergency stop switch is pressed until the device stops, as well as the stop position itself, cannot be positively determined. In many cases, the stop position will not exceed the target position for the operation prior the emergency stop. Depending on the robot’s loading condition and operation speed, overruns are inevitable. Taking this into consideration, be sure the layout for the peripheral equipment includes extra space.

For detailed wiring instructions, refer to the RC620 Robot Controller manual, Setup &

Operation: 8. EMERGENCY.

2.2.7 Teach Control Device

Operators can use the TP1 teach pendant to operate the robot in the TEACH operation mode.

Refer to the RC620 Robot Controller manual, Setup & Operation: 13. Teach pendant TP1 for operation instructions.

2. Safety