Example of Using Safety Output Functions

The following describes an example of using safety outputs.
In this example, the Safe Torque OFF (STO) function is assigned to SAFETY_OUT1. By operating the emergency stop switch used to check the safety input, the safety output is confirmed by the status of the SAFETY_OUT1 display on the Safety Board tab in the I/O monitor.

How to set
Follow the procedure below to set the safety function parameters.

1. In Epson RC+, select [Setup] - [System Configuration], and then start Safety Function Manager under [Controller] - [Safety Functions].
   
   

2. For [SAFETY_OUT1], select [STO].
   

3. Apply settings.

How to check operation
Follow the procedure below to check the operation.

1. Press the emergency stop switch.

2. Confirm that the [EStop] displayed in the lower right corner of Epson RC+ lights up.

3. In Epson RC+, select [Tools] - [I/O Monitor], and then select the [Safety Board] tab, and confirm that SAFETY_OUT1 is ON (white).
   
   

4. Release the emergency stop switch.

5. Confirm that SAFETY_OUT1 turns OFF (green).
   
   

How to reset
Follow the procedure below to reset the emergency stop status.

1. Release the emergency stop switch.

2. Perform the reset operation.
   EPSON RC+ 7.0: In EPSON RC+, select [Robot Manager] - [Control Panel], and then click the [Reset] button.
   Epson RC+ 8.0: In Epson RC+, select [Robot Manager] and then click the [Reset] button.

3. Confirm that the [EStop] displayed in the lower right corner of Epson RC+ turns off.