Epson RC170 Guia do Utilizador descarregar pdf (Página 35)

2. Safety

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 17

Safeguard System

To ensure safety, a safeguard system should be installed for the robot system.

When installing the safeguard system, strictly observe the following points:

Refer to each robot manual, and install the safeguard system outside the maximum space.

Carefully consider the size of the end effector and the work pieces to be held so that there

will be no error between the moving parts and the safeguard system.

Manufacture the safeguard system to withstand calculated external forces (forces that will

be added during operation and forces from the surrounding environment).

When designing the safeguard system, make sure that it is free of sharp corners and

projections, and that the safeguard system itself is not a hazard.

Make sure that the safeguard system can only be removed by using a tool.

There are several types of safeguard devices, including safety doors, safety barriers, light

curtains, safety gates, and safety floor mats. Install the interlocking function in the

safeguard device. The safeguard interlock must be installed so that the safeguard interlock

is forced to work in case of a device failure or other unexpected accident. For example,

when using a door with a switch as the interlock, do not rely on the switch’s own spring

force to open the contact. The contact mechanism must open immediately in case of an

accident.

Connect the interlock switch to the safeguard input of the drive unit’s EMERGENCY

connector. The safeguard input informs the robot controller that an operator may be inside

the safeguard area. When the safeguard input is activated, the robot stops immediately and

enters pause status, as well as either operation-prohibited status or restricted status (low

power status).

Make sure not to enter the safeguarded area except through the point where the safeguard

interlock is installed.

The safeguard interlock must be installed so that it can maintain a safe condition until the

interlock is released on purpose once it initiates. The latch-release input is provided for the

EMERGENCY connector on the Controller to release the latch condition of the safeguard

interlock. The latch release switch of the safeguard interlock must be installed outside of

the safeguarded area and wired to the latch-release input.

It is dangerous to allow someone else to release the safeguard interlock by mistake while

the operator is working inside the safeguarded area. To protect the operator working inside

the safeguarded area, take measures to lock out and tag out the latch-release switch.

Presence Sensing Device

The

above mentioned safeguard interlock is a type of presence sensing device, since it

indicates the possibility of somebody being inside the safeguard system. When separately

installing a presence sensing device, however, perform a satisfactory risk assessment and

pay thorough attention to its dependability.

Here are precautions that should be noted:

- Design the system so that when the presence sensing device is not activated or a

dangerous situation still exists that no personnel can go inside the safeguard area or place

their hands inside it.

- Design the presence sensing device so that regardless of the situation the system operates

safely.

- If the robot stops operating when the presence sensing device is activated, it is necessary

to ensure that it does not start again until the detected object has been removed. Make

sure that the robot cannot automatically restart.

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