Setup & Operation 12. EMERGENCY
88 VT Rev.1
When the latched TEACH mode is released while the safeguard is open, the status of
Manipulator power is operation-prohibited because the safeguard is open at that time.
To execute a Manipulator operation, close the safeguard again, and then close the latch
release input.
12.1.3 Checking Latch Release Switch Operation
After connecting the safeguard switch and latch release switch to the EMERGENCY
connector, be sure to check the switch operation for safety by following the procedures
described below before operating the Manipulator.
(1) Turn ON the Controller while the safeguard is open in order to boot the controller
software.
(2) Make sure that “Safety” is displayed on the main window status bar.
(3) Close the safeguard, and turn ON the switch connecting to the latch release input.
Make sure that the “Safety” is dimmed on the status bar.
The information that the safeguard is open can be latched by software based on the latch
release input condition.
Open : The latch release switch latches the condition that the safeguard is open.
To cancel the condition, close the safeguard, and then close the safeguard latch
release input.
Closed : The latch release switch does not latch the condition that the safeguard is open.
The latch release input also functions to acknowledge the change of to TEACH mode.
In order to change the latched condition of TEACH mode, turn the mode selector key
switch on the Teach Pendant to “Auto”. Then, close the latch release input.
12.2 Emergency Stop Switch Connection
12.2.1 Emergency Stop Switch
If it is desired to add an external Emergency Stop switch(es) in addition to the Emergency
Stop on the Teach Pendant and Operator Panel, be sure to connect such Emergency Stop
switch(es) to the Emergency Stop input terminal on the EMERGENCY connector.
The Emergency Stop switch connected must comply with the following and related safety
standard (IEC60947-5-5, etc.):
- It must be a push button switch that is “normally closed”.
- A button that does not automatically return or resume.
- The button must be mushroom-shaped and red.
- The button must have a double contact that is “normally closed”.
The signal from the Emergency Stop switch is designed to use two redundant circuits.
If the signals at the two circuits differ by two seconds or more, the system recognizes it as
a critical error. Therefore, make sure that the Emergency Stop switch has double contacts
and that each circuit connects to the specified pins on the EMERGENCY connector at the
Controller. Refer to the Setup & Operation 12.4 Circuit Diagrams.
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