Precautions for Using the Robot Controller Safety Functions
When using the Robot Controller safety functions, follow the safety precautions described below.
WARNING
Be sure to check the safety function parameter settings when operating a Robot Controller in its initial state or when operating a Robot Controller with unknown safety function parameter settings. Also, operate the Manipulator after understanding the operation of the safety functions.
Be sure to check that the intended operation is achieved when changing from the previous state of use, such as when safety function parameters are changed or when parts are replaced for maintenance.
When checking operation, use low power mode.
Reducing the motor output ensures operator safety and reduces the risk of destruction and damage to peripheral equipment due to careless operation.Before beginning full operation, check that the safety function parameters are set as intended.
The parameter checksum of the safety functions is calculated from the safety function parameters. If the parameter checksum of the safety functions is changed, it means that the safety function parameters have been changed. Incorrectly set safety functions may cause serious safety problems.
Before beginning full operation, make sure that the safety devices such as the emergency stop switch and safeguard switch operate. Operation without the switches functioning properly may result in the safety functions failing to operate during an emergency, which is extremely hazardous and may result in serious injury to operators and/or severe equipment damage.
RC700-E and RC800-A differ in stopping behavior due to safety functions (safety limited speed (SLS), safety limited position (SLP), joint angle limit, and soft axis limiting). The status, display, and notifications for each Robot Controller are as shown in the following table.
| Item | RC700-E | RC800-A |
|---|---|---|
| Robot Controller 7-segment LED display | Display as (-EP-)※3 (EP) | Display error number 4-digit error number (0.5 second) and  (EEEE) are displayed (0.5 second) repeatedly |
| How to stop | Emergency stop (stop category 1) | Emergency stop (stop category 1) |
| How to reset | After solving all the problems that caused the robot to stop, reset the Controller※1 | After solving all the problems that caused the robot to stop, reset the Controller※1 |
| How to check why the robot has stopped | Refer to the note information for events 27 and 28 in the system history※2 | Refer to error number or refer to the note information for events 27 and 28 in the system history※2 |
| Robot Controller Status | Emergency stop status※3 | Error status |
※1 Refer to the following section.
How to Reset the Robot When It Stopped due to a Safety Function
※2 Refer to the following manual.
- "Epson RC+ User’s Guide - [System History] (View Menu)"
- "Status Code/Error Code List - Code Number, Details of Note Information"
※3 The robot is in an emergency stop status only when the motor is on. If the motor is turned off, the robot is in an error status when you turn on the motor with the cause of the stop is not removed.