Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the emergency stop switch. Pressing the emergency stop switch immediately changes the Manipulator to deceleration motion and stops it at the maximum deceleration speed.
Avoid pressing the emergency stop switch unnecessarily while the Manipulator is running normally.
- The Manipulator may hit peripheral equipments.
When you press the Emergency Stop switch, the operating trajectory until the robot system stops is different from that in normal operation. - The life of the brakes will be shortened.
The brakes are locked and the brake friction plate is worn.
Normal brake lifespan: About 2 years (when the brakes are used 100 times/day)
However, the normal relay life is approximately 20,000 times. If you press the emergency stop switch unnecessarily, the life of the relay will be shortened. - Impact is applied on the reduction gear unit which may result in shortening the life of the reduction gear unit.
To place the system in emergency mode during normal operation, press the emergency stop switch when the Manipulator is not moving.
Instructions on how to wire the emergency stop switch circuit is described in the following manual.
Do not turn OFF the Controller while the Manipulator is operating. If you attempt to stop the Manipulator in emergency situations, make sure to stop the Manipulator using the E-STOP of the Controller.
If the Manipulator is stopped by turning OFF the power while it is operating, the following problems may occur.
- Reduced life and damage to reduction gear
- Position shift at the joints
In addition, if the Manipulator was forced to be turned OFF by blackouts and the like while the Manipulator is operating, make sure to check the following points after power is restored.
- Damage in reduction gear
- Shifting of the joints from their proper positions
If there was any shifting, maintenance is required. For more information, contact the supplier.
Also, the same kind of problems may occur if there is an error and the the Manipulator stops during the operation. Check the condition of the Manipulator and perform calibration if necessary.
Before using the emergency stop switch, be aware of the following points.
- The emergency stop switch (E-STOP) should be used to stop the Manipulator only in case of emergencies
- Besides pressing the emergency stop switch (E-STOP) when an emergency occurs, to stop the Manipulator during program operation, use the Pause (halt) or STOP (program stop) command. The Pause and STOP statements do not turn off motor energization, and so the brake is not locked.
- When the emergency stop switch is pressed, a great force is applied to the base table. When mounting the Manipulator on the mobile platform, be sure to design the system so that the system does not turnover and the Manipulator does not fall over.
To check for problems regrading brakes, refer to the following.
VT6-B Manipulator Periodic Inspection
KEY POINTS
Test pulse cannot be used with the emergency stop input of this model.
Stopping distance of emergency stop
The Manipulator during operation cannot stop immediately after the emergency stop switch is pressed. Also, the stopping time and movement distance vary depending on the following factors.
- Hand weight: WEIGHT setting, ACCEL setting
- Workpiece weight: SPEED setting, movement posture, etc.
For the stopping time and movement distance of the Manipulator, refer to the following section.
Appendix B: Stopping Time and Stopping Distance at Emergency Stop