Epson RC170 Guia do Utilizador descarregar pdf (Página 30)

2. Safety

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

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 the section Installation and

Design Precautions later in this chapter. For detailed wiring instructions, refer to the Setup

& Operation EMERGENCY in the controller manual.

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+ 5.0 when it starts.

You can set the EPSON RC+ 5.0 to start in AUTO or PROGRAM mode.

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

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Epson RC170 Guia do Utilizador Página 30