Usage example of the safety input/output functions
This is a usage example of the safety input/output.
In this usage example, the emergency stop function (ESTOP) is assigned to the SAFETY_IN1 to operate the emergency stop function. Also, assign the safety torque OFF (STO) function to SAFETY_OUT1 and confirm that the STO status is output in conjunction with the emergency stop function.
Epson RC+8.0
How to set
Follow the procedure below to set the safety function parameters.
Select Epson RC+ menu - [Tool] - [Safety Function Manager] and start the safety function manager.
For [SAFETY_IN1], select [ESTOP].
For [SAFETY_OUT1], select [STO].
Apply settings.
How to check operation
Follow the procedure below to check the operation.
In Epson RC+, select [Tools] - [I/O Monitor], and then select [Safety Board].
Enable the emergency stop function with the following procedure
- Virtual controllers: Turn SAFETY_IN1 ON using one of the following methods
- Double click the LED display of the SAFETY_IN1
- Execute SF_SetIn 0, &HFE in the command window
- Execute SF_SetSw 0, 0 in the comand window
- Actual controllers: Press the emergency stop switch that is connected to the SAFETY_IN1
Make sure both SAFETY_IN1 and SAFETY_OUT1 is ON (white).
Confirm that the [EStop] displayed in the lower right corner of Epson RC+ lights up.
Disable the emergency stop function with the following procedure
- Virtual controller: Double click the LED display of SAFETY_IN1 in the IO monitor.
- Actual controller: Release the emergency stop switch that is connected to SAFETY_IN1
- Make sure both the SAFETY_IN1 and SAFETY_OUT1 is OFF (green).
How to reset
Follow the procedure below to reset the emergency stop status.
- Perform the reset operation.
In EPSON RC+, select [Robot Manager], and then click the [Reset] button. - Confirm that the [EStop] displayed in the lower right corner of Epson RC+ turns off.
Epson RC+7.0
How to set
Follow the procedure below to set the safety function parameters.
In Epson RC+, select [Setup] - [System Configuration], and then start Safety Function Manager under [Controller] - [Safety Functions].
For [SAFETY_IN1], select [ESTOP].
For [SAFETY_OUT1], select [STO].
Apply settings.
How to check operation
Follow the procedure below to check the operation.
In Epson RC+, select [Tools] - [I/O Monitor], and then select [Safety Board].
Press the emergency stop switch connected to SAFETY_IN1 to enable the emergency stop function.
KEY POINTS
As the safety inputs use negative logic, the Low level (0 V) is the ON status.
Make sure both SAFETY_IN1 and SAFETY_OUT1 is ON (white).
Confirm that the [EStop] displayed in the lower right corner of Epson RC+ lights up.
Release the emergency stop switch connected to SAFETY_IN1 to disable the emergency stop function.
Make sure both the SAFETY_IN1 and SAFETY_OUT1 is OFF (green).
How to reset
Follow the procedure below to reset the emergency stop status.
- Release the emergency stop switch.
- Perform the reset operation.
In EPSON RC+, select [Robot Manager] - [Control Panel], and then click the [Reset] button. - Confirm that the [EStop] displayed in the lower right corner of Epson RC+ turns off.