Safeguard (Safeguard Interlock)
To maintain a safe working zone, safety barriers must be set up around the Manipulator, and safeguards must be installed at the entrance and exit of the safety barriers. There are several types of safeguards such as safety door switches, safety barriers, light curtains, safety gates, safety floor mats, and so on. The term “safeguard” described in this manual is a type of safeguard.
When a closed safeguard is opened during robot motion, the safeguard interlock function operates. In such case, the robot stops immediately and starts to decelerate. When the robot stops operating, it enters into pose status, and all robot motors turn OFF. The safeguard input works in the following way
Safeguard open
The robot stops immediately, motors are turned OFF, and further operation is impossible. The robot will not operate until either the safeguard is closed or TEACH or TEST mode is turned ON and the enable circuit is engaged.
Safeguard closed
The robot can operate automatically in an unrestricted (high power) state.
Do not open the safeguard unnecessarily while the motor is energized. Frequent safeguard inputs will reduce the life of the relay.
Normal relay lifespan: Approximately 20,000 times
For details on wiring methods, refer to the following.
When using light curtains, keep the safeguard open until the latch condition is released.
KEY POINTS
Test pulse cannot be used with the safeguard input of this model.
WARNING
- The EMERGENCY connector on the Controller has a safeguard input circuit to connect the safeguard interlock switch. To protect operators working near the robot, be sure to connect the safeguard 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.
Stopping distance when the safeguard is opened
During operation, the Manipulator cannot stop immediately even if the safeguard is opened. Also, the stopping time and displacement 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 C: Stopping Time and Stopping Distance when the Safeguard is Open