Emergency Stop

Each robot system needs equipment that will allow the operator to immediately stop the system's operation. Install an emergency stop device by using emergency stop input from the Controller or other equipment.

Before using the emergency stop switch, be aware of the following points.

• The emergency stop switch should be used to stop the Manipulator only in case of emergencies.
• Besides pressing the emergency stop switch when an emergency occurs, to stop the Manipulator during program operation, use the Pause or STOP (program stop) statements assigned to a standard I/O.
  The Pause and STOP statements do not turn off motor energization, and so the brake is not locked.

To place the robot system in emergency stop mode in a non-emergency (normal) situation, press the emergency stop switch while the Manipulator is not operating.

Do not press the emergency stop switch unnecessarily while the Manipulator is operating normally.

It could shorten the lifespan of the following components.

• Brakes
  The brakes will be locked, which will shorten the lifespan of the brakes due to worn brake friction plates.
  • Normal brake lifespan:
    About 2 years (when the brakes are used 100 times/day)
    or about 20,000 times
• Reduction gears
  An emergency stop applies an impact to the reduction gear, which can shorten its life.

If the Manipulator is stopped by turning off the Controller while it is operating, the following problems may occur.

• Reduced life and damage to reduction gear
• Position shift at the joints

If a power outage or other unavoidable Controller power-off occurs during Manipulator operation, 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, please contact the supplier.

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