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2. Safety

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 11

2. Safety

2.1 Overview

This chapter explains the important safety requirements for robotic systems using EPSON

RC+ 5.0 and the robot 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+ 5.0 system.

Remember that safety is the most important consideration when designing and operating

any robotic system.

WARNING

This sym

bol 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.

When the system is in restricted (low power) state or operation-prohibited state, a single

failure will not cause a runaway action that surpasses the assigned speed or torque decrease.

This is due to the multi-protect circuit and mutual monitoring circuit in the control system.

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