T3-B T6-B Manipulator 11. EMERGENCY
104
T-B series Rev.1
11.1.1 Safeguard Switch
WARNING
The interlock of the Safeguard must be functioning when the robot system is
operated. Do not operate the system under the condition that the switch cannot
be turned ON/OFF (e.g. The tape is put around the switch.). Operating the robot
system when the switch is not functioning properly is extremely hazardous and
may cause serious safety problems as the Safeguard input cannot fulfill its
intended function.
In order to maintain a safe working zone, a safeguard must be erected around the
Manipulator. The safeguard must have an interlock switch at the entrance to the working
zone. The Safeguard that is described in this manual is one of the safeguards and an interlock
of the Safeguard is called a Safeguard switch. Connect the Safeguard switch to the Safeguard
input terminal on the EMERGENCY connector.
The Safeguard switch has safety features such as temporary hold-up of the program or the
operation-prohibited status that are activated whenever the Safeguard is opened.
Observe the following in designing the Safeguard switch and the Safeguard.
- For the Safeguard switch, select a switch that opens as the Safeguard opens, and not by the
spring of the switch itself.
- The signal from the Safeguard (Safeguard input) is designed to input to two redundant
signals. If the signals at the two inputs differ by two seconds or more, the system recognizes
it to be a critical error. Therefore, make sure that the Safeguard switch has two separate
redundant circuits and that each connects to the specified pins at the EMERGENCY
connector on the Manipulator.
- Make sure to design the safeguard to prevent the door from closing accidentally.
11.1.2 Latch Release Switch
The controller software latches these conditions:
- The safeguard is open.
- The operation mode is set to “TEACH”.
The EMERGENCY connector has an input terminal for a latch release switch that cancels
the latched conditions.
Open : The latch release switch latches conditions that the safeguard is open or the
operation mode is “TEACH”.
Closed : The latch release switch releases the latched conditions.
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.
NOTE
Summary of Contents for T-B Series
Page 1: ...SCARA ROBOT T B series MANUAL Rev 1 EM217R4788F ...
Page 2: ...SCARA Robots T B series Manual Rev 1 ...
Page 16: ...TABLE OF CONTENTS xiv T B series Rev 1 ...
Page 18: ......
Page 40: ...Installation 5 Second Step 24 T B series Rev 1 ...
Page 42: ......
Page 58: ...T3 B T6 B Manipulator 2 Specifications 42 T B series Rev 1 2 3 Outer Dimensions 2 3 1 T3 B ...
Page 59: ...T3 B T6 B Manipulator 2 Specifications T B series Rev 1 43 2 3 2 T6 B ...
Page 77: ...T3 B T6 B Manipulator 3 Environments and Installation T B series Rev 1 61 T6 B A B ...
Page 158: ...T3 B T6 B Manipulator 18 Error Code List 142 T B series Rev 1 ...
Page 160: ......
Page 168: ......
Page 178: ...Appendix B Time and Distance of Free Running in Emergency 162 T B series Rev 1 ...
Page 182: ...Appendix C Time and Distance of Free Running When Safeguard Is Opened 166 T B series Rev 1 ...
