Installation guide
Table Of Contents
- EM135B2511F Robot System Safety and Installation Read this manual first (RC90/RC+5.0) Rev.6
- PREFACE
- TABLE OF CONTENTS
- 1. Safety 1
- 2. Installation 19
- System Example 20
- 2.1 Outline from Unpacking to Operation of Robot System 21
- 2.2 Unpacking 22
- 2.3 Transportation 23
- 2.4 Manipulator Installation 25
- 2.5 Controller Installation 29
- 2.6 Connection to EMERGENCY Connector (Controller) 31
- 2.7 Power Supply 38
- 2.8 Connecting Manipulator and Controller 40
- 2.9 Power-on 41
- 2.10 Saving Default Status 43
- 3. First Step 44
- 4. Second Step 57
- 5. General Maintenance 59
- 6. Manuals 64
- 7. Directives and Norms 66
- 1. Safety
- 1.1 Conventions
- 1.2 Design and Installation Safety
- 1.3 Operation Safety
- 1.4 Maintenance Safety
- 1.5 Emergency Stop
- 1.6 Labels
- 1.7 Safety Features
- Emergency Stop Switch
- Safety Door Input
- Low Power Mode
- Dynamic Brake
- Motor Overload Detection
- Irregular Motor Torque (out-of-control manipulator) Detection
- Motor Speed Error Detection
- Positioning Overflow -Servo Error- Detection
- Speed Overflow -Servo Error- Detection
- CPU Irregularity Detection
- Memory Check-sum Error Detection
- Overheat Detection at the Motor Driver Module
- Relay Deposition Detection
- Over-Voltage Detection
- AC Power Supply Voltage Drop Detection
- Temperature Anomaly Detection
- Fan Malfunction Detection
- 1.8 Lockout / Tagout
- 2. Installation
- System Example
- 2.1 Outline from Unpacking to Operation of Robot System
- 2.2 Unpacking
- 2.3 Transportation
- 2.4 Manipulator Installation
- 2.5 Controller Installation
- 2.6 Connection to EMERGENCY Connector (Controller)
- 2.7 Power Supply
- 2.8 Connecting Manipulator and Controller
- 2.9 Power-on
- 2.10 Saving Default Status
- 3. First Step
- 4. Second Step
- 5. General Maintenance
- 6. Manuals
- 7. Directives and Norms
1. Safety
Safety and Installation (RC90 / EPSON RC+5.0) Rev.6 9
1.5 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the
Emergency Stop switch. The motor power will be turned OFF, and the arm
motion by inertia will be stopped with the electromagnetic brake and dynamic
brake.
However, avoid pressing the Emergency Stop switch unnecessarily while the
Manipulator is running normally. Otherwise, the Manipulator may hit the
peripheral equipment since the operating trajectory while the robot system stops is
different from that in normal operation.
To place the robot system in emergency mode during normal operation, press the
Emergency Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop
switch circuit.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is
operating. Pressing the switch during the operation makes the brakes work.
This will shorten the life of the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
Before using the Emergency Stop switch, be aware of the followings.
- The Emergency Stop (E-STOP) switch should be used to stop the
Manipulator only in case of emergencies.
- To stop the Manipulator operating the program except in emergency, use
Pause (halt) or STOP (program stop) commands
Pause and STOP commands do not turn OFF the motors. Therefore, the
brake does not function.
- For the Safeguard system, do not use the circuit for E-STOP.