Connecting an Emergency Stop Switch

Connection Locations for Emergency Stop Switch

An emergency stop switch can be connected to the following locations:

• Emergency stop switch attached to Teach Pendant
• Emergency stop input connector
• Port configured for emergency stop for safety I/O connector (default: configured)
  Refer to the following section.
  Connections: Safety I/O Connector
  Configurations: "Robot Controller Safety Function Manual"

Emergency Stop Switch

Use an emergency stop switch that satisfies the following conditions and complies with the relevant safety standards (such as IEC 60947-5-5).

• Normally closed pushbutton switch
• Switch that cannot reset automatically
• Red mushroom type switch
• Switch with two form B contacts

KEY POINTS

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The emergency stop input has a redundant circuit design. If the status of these redundant circuits differs by two seconds or longer, the system recognizes it as an error in the emergency stop circuit. For this reason, be sure that the emergency stop switch has two form B contacts, and connect by referring to the following section.

Wiring Examples

All locations with startup capabilities should have an emergency stop function.

Emergency Stop Switch Function Check

After the emergency stop switch is connected to the emergency stop input connector, be sure to use the following procedure to check the function of the switch to ensure safety before operating the Manipulator.

1. With the emergency stop switch pressed down, turn on the power to start the Controller.
2. Check that the 7-segment LED on the Controller displays the following.
   
3. Check that [EStop] is displayed on the Epson RC+ status bar.
4. Release the emergency stop switch.
5. Execute the RESET statement.
   Select [Tools] - [Robot Manager], click the [Reset] button, and execute the RESET statement.
6. Check that (EP) turns off and the [EStop] display disappears from the status bar.

Recovering from an Emergency Stop State

Before recovering from an emergency stop state, follow the safety check procedure specified for the system.
After the safety check is completed, perform the following operations to reset the emergency stop state.

• Resetting the emergency stop switch
• Executing the RESET statement