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2. Safety
16 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4
Peripheral Equipment Design
When designing equipment that removes and supplies parts and materials to the robot
system, ensure that the design provides the operator with sufficient safety. If there is a
need to remove and supply materials without stopping the robot, install a shuttle device or
take other measures to ensure that the operator does not need to enter a potentially
dangerous zone.
Ensure that an interruption to the power supply (power shutoff) of peripheral equipment
does not lead to a dangerous situation. Take measures that not only prevent a work piece
held from being released as mentioned in “End effector Design” but that also ensure
peripheral equipment other than the robots can stop safely. Verify equipment safety to
ensure that, when the power shuts off, the area is safe.
Remote Control
To
prevent operation by remote control from being dangerous, start signals from the
remote controller are allowed only when the control device is set to REMOTE, TEACH
mode is OFF, and the system is configured to accept remote signals. Also when remote is
valid, motion command execution and I/O output are available only from remote. For the
safety of the overall system, however, safety measures are needed to eliminate the risks
associated with the start-up and shutdown of peripheral equipment by remote control.
Emergency Stop
Each r
obot system needs equipment that will allow the operator to immediately stop the
system’s operation. Install an emergency stop device that utilizes emergency stop input
from the controller and all other equipment.
During an emergency stop, the power that is supplied to the motor driving the robot is shut
off, and the robot is stopped by dynamic braking.
The emergency stop circuit should also remove power from all external components that
must be turned off during an emergency. Do not assume that the robot controller will turn
off all outputs if configured to. For example, if an I/O card is faulty, the controller cannot
turn off a component connected to an output. The emergency stop on the controller is
hardwired to remove motor power from the robot, but not external power supplies.
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.
For details of the Safeguard system, refer to the following manuals.
Safety and Installation 2.6 Connection to EMERGENCY Connector
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance 2.2.2 Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation 5.2 Inspection Point - Inspection While the
Power is ON (Manipulator is operating)
- User's Guide 1
- FOREWORD 4
- WARRANTY 4
- MANUFACTURER 6
- SUPPLIERS 6
- TABLE OF CONTENTS 9
- 3. Getting Started 23 10
- 4. Operation 24 10
- 6 The SPEL+ Language 150 13
- xiii 15
- 8 Simulator 205 16
- 9 Robot Configuration 241 16
- 10 Inputs and Outputs 246 16
- Table of Contents 18
- 1. Introduction 19
- 1.2.1 RC180 Controller 20
- 1.2.2 RC90 Controller 20
- 1.2.3 Software 20
- 1.2.4 Simulator 20
- 1.2.5 System Block Diagram 21
- 1.3 Software Version 22
- 1.3.1 Version Confirmation 24
- 1.4 Options 27
- 1.7 SPEL for Windows Users 27
- 1.8 Documentation 28
- 2. Safety 29
- 2.2.2 Safeguard 30
- 2.2.3 Operation Modes 30
- 2.2.4 Start Mode 30
- 2.2.6 Emergency Stop 31
- 2.2.7 Teach Control Device 31
- 2.5.1 General Precautions 38
- 2.5.2 Automatic Operation 38
- 2.5.3 Teaching Robot Points 38
- 2.5.5 Program Verification 39
- 2.5.6 Troubleshooting 39
- 2.5.7 Maintenance 39
- 2.7 End User Training 40
- 3. Getting Started 41
- 4. Operation 42
- 4.3.1 Startup sequence 43
- 4.3.2 Startup Configuration 43
- 4.3.3 Start Mode 43
- 4.3.4 Start Mode Dialog 44
- 4.3.5 Start Mode: Program 44
- 4.3.6 Start Mode: Auto 45
- 4.3.7 Auto Start 45
- 4.3.8 Windows Login 46
- 4.3.9 Command Line Options 46
- 4.4.2 USB Communications 48
- Function main 52
- 08:24:18 Task main started 53
- 08:24:18 All tasks stopped 53
- 5. The EPSON RC+ 5.0 GUI 56
- 5.2 Project Explorer Pane 57
- 5.3 Status Window Pane 57
- 5.4 Status Bar 58
- 5.5 Online Help 58
- 5.6 File Menu 59
- 5.7 Edit Menu 65
- 5.8 View Menu 69
- 5.9 Project Menu 71
- Project: Properties: Vision 91
- 5.10 Run Menu 92
- 5.11 Tools Menu 96
- 101 119
- 103 121
- 105 123
- 107 125
- 109 127
- 111 129
- Backup Controller 131
- Restore Controller 132
- Export Controller Status 133
- View Controller Status 134
- Reset Controller 135
- 5.12 Setup Menu 136
- 119 137
- 121 139
- 123 141
- Setup: Controller: Options 142
- Setup: Controller: Simulator 142
- Setup: Controller: Robot 143
- 127 145
- 129 147
- CAUTION 149
- 133 151
- Setup: Preferences: Startup 152
- 135 153
- 137 155
- 139 157
- 141 159
- Setup: Preferences: Language 161
- 5.13 Window Menu 162
- 145 163
- 5.14 Help Menu 165
- 149 167
- 6. The SPEL+ Language 168
- 6.1 Overview 169
- 6.2 Program structure 169
- 6.3 Commands and statements 170
- 6.5 Data types 171
- 6.6 Operators 171
- 6.7 Working with variables 172
- 6.7.4 Global variables 173
- 6.7.6 Arrays 174
- 6.7.7 Initial values 174
- 6.7.8 Clearing arrays 174
- 6.8 Working with strings 175
- 6.9 Multi-statements 176
- 6.10 Labels 176
- 6.11 Comments 176
- 6.12 Error handling 177
- 6.13 Multi-tasking 179
- 6.14.1 Overview 180
- External Control Poin 184
- Outside Fixed Tool 184
- 6.15 Robot arm orientations 185
- Proper motion 188
- 6.16 Robot motion commands 192
- 6.16.5 Joint motion 193
- 6.17.1 Defining points 195
- 6.17.6 Point attributes 196
- 6.17.8 Alteration of points 198
- 6.18.1 Hardware I/O 199
- 6.18.2 Memory I/O 199
- 6.18.3 I/O Commands 199
- 6.19 Using Traps 200
- 6.20 Special Tasks 201
- 7.1 Designing Applications 204
- Safety interface 205
- Inputs and outputs 205
- Peripherals 205
- 7.2 Managing Projects 206
- 7.2.3 Configuring a project 207
- Editing a project 207
- 7.2.4 Building a project 208
- Status Pane 208
- 7.2.6 Backing up a project 209
- 7.3 Editing Programs 210
- 7.3.3 Syntax Help 211
- 7.3.4 Syntax Errors 212
- 7.4 Editing Points 213
- 7.5.1 The Run Window 215
- 7.5.2 Debugging 217
- 7.6 The Operator Window 221
- 7.7 Using Remote Control 222
- 8. Simulator 223
- 8.2 Using the Simulator 225
- ◆ Layout Object 240
- 9. Robot Configuration 259
- 9.2 Calibrating the Robot 260
- 9. Robot Configuration 261
- 10. Inputs and Outputs 264
- 10.3 I/O Configuration 265
- 10.4 Monitoring I/O 265
- 10.5 Virtual I/O 265
- 11. Remote Control 266
- 11. Remote Control 267
- 11.7 Remote Inputs 269
- 11.8 Remote Outputs 271
- 11.10 Remote Ethernet 275
- Remote command 277
- Response 281
- Error response 283
- 11.11 Remote RS232 284
- Communication sequence 294
- 12. RS-232 Communications 295
- 12.2 RS-232 Commands 296
- 13. TCP / IP Communications 297
- 13.3 TCP/IP Commands 299
- 13.4 TCP/IP Example 300
- 14. ECP Motion 301
- 14. ECP Motion 303
- User Program Conversion 309
- Point File Conversion 309
- I/O Label File Conversion 309
- Global Variable Conversion 312
- Local Variable Conversion 312
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