T3-B T6-B Manipulator 1. Safety
T-B series Rev.1 33
1.5 Safeguard
To ensure safe operation, install a safety system using safety doors, light curtains, safety floor mats, etc.
When a closed safeguard is open during robot motion, the safeguard interlock function operates. The robot stops
immediately and enters into pause state. Then, all robot motors are turned OFF. The descriptions below
explain how the safeguard input works.
: The robot stops immediately, motors are turned OFF, and further
operation is impossible until either the safeguard is closed or TEACH
or TEST mode is turned ON and the enable circuit is engaged.
Safeguard
The robot can automatically operate in unrestricted (high power) state.
For the safeguard, do not use the E-STOP circuit.
For details of wiring instructions, refer to “11. EMERGENCY”.
WARNING
■
The EMERGENCY connector on the Manipulator has a safeguard input circuit to
connect the safety device interlock switch. To protect operators working near the
robot, be sure to connect the interlock switch and make sure that it works
properly.
■
The time to stop the robot and the stopping distance by the safeguard interlock
function will change depending on the conditions of use. Be sure to confirm that
safety is ensured according to the installation environment of the robot.
Free running distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. In
addition, time and distance of the free running vary by following factors:
Hand weight WEIGHT Setting ACCEL Setting
Workpiece weight SPEED Setting Posture etc.
For time and distance of the Manipulator free running, refer to “Appendix C: Time and
Distance of Free Running When the Safeguard is Opened”.
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