Epson RC170 Guia do Utilizador descarregar pdf (Página 33)

2. Safety

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 15

2.4 Installation and Design Precautions

2.4.1 Designing a Safe Robot System

It is important to operate robots safely. It is also important for robot users to give careful

consideration to the safety of the overall robot system design.

This section summarizes the minimum conditions that should be observed when using

EPSON robots in your robot systems.

Please design and manufacture robot systems in accordance with the principles described

in this and the following sections.

Environmental Conditions

Carefully observe

the conditions for installing robots and robot systems that are listed in

the “Environmental Conditions” tables included in the manuals for all equipment used in

the system.

System Layout

When d

esigning the layout for a robot system, carefully consider the possibility of error

between robots and peripheral equipment. Emergency stops require particular attention,

since a robot will stop after following a path that is different from its normal movement

path. The layout design should provide enough margins for safety. Refer to the manuals

for each manipulator, and ensure that the layout secures ample space for maintenance and

inspection work.

When designing a robot system to restrict the area of motion of the robots, do so in

accordance with the methods described in each manipulator manual. Utilize both software

and mechanical stops as measures to restrict motion.

Install the emergency stop switch at a location near the operation unit for the robot system

where the operator can easily press and hold it in an emergency.

Do not install the controller at a location where water or other liquids can leak inside the

controller. In addition, never use liquids to clean the controller.

Disabling Power to the System using lock out / tag out

e power connection for the robot controller should be such that it can be locked and

tagged in the off position to prevent anyone from turning on power while someone else is

in the safeguarded area. For further details, refer to the section Procedure of

Lockout/Tagout in the chapter Safety Precautions in the controller manual.

End Effector Design

Provide wiring and piping that will prevent the robot end effector from releasing the object

held (the work piece) when the robot system power is shut off.

Design the robot end effector such that its weight and moment of inertia do not exceed the

allowable limits. Use of values that exceed the allowable limits can subject the robot to

excessive loads. This will not only shorten the service life of the robot but can lead to

unexpectedly dangerous situations due to additional external forces applied to the end

effector and the work piece.

Design the size of the end effector with care, since the robot body and robot end effector

can interfere with each other.

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