Example of Using Safety Limited Position (SLP)

The following describes an example of using Safety Limited Position (SLP). In this example, SLP_A is assigned to SAFETY_IN3 to confirm that an emergency stop occurs when the robot enters the restricted area. This example uses a GX8-B653S as the SCARA Manipulator and a C4-B901S as an the 6-Axis Manipulator.

Safety Limited Position (SLP) Settings for a SCARA Manipulator

Follow the procedure below to set the safety function parameters for the Safety Board.

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

  2. For [SAFETY_IN3], select [SLP_A].

  3. In [Robot Monitored Range], enter 100 (mm) for [J2] and 80 (mm) for [J3].

  4. Select the XY Plane in SLP_A, and then select [Wall].

  5. Enable the checkboxes for [X1], [X2], [Y1], and [Y2], then enter -700 (mm) for [X1], 700 (mm) for [X2], -700 (mm) for [Y1], and 700 (mm) for [Y2] as the positions of each Wall.

  6. Check the set range in SLP Viewer.

  7. Apply settings.

Safety Limited Position (SLP) Settings for a 6-Axis Manipulator

Follow the procedure below to set the safety function parameters for the Safety Board.

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

  2. For [SAFETY_IN3], select [SLP_A].

  3. In [Robot Monitored Range], enter 99 (mm) for [J2], 99 (mm) for [J3], 48 (mm) for [J5], and 30 (mm) for [J6].

  4. Select the XY Plane in SLP_A, and then select [Wall]. Select the Z Direction as well.

  5. Enable the checkboxes for [X1], [X2], [Y1], and [Y2], then enter -700 (mm) for [X1], 700 (mm) for [X2], -700 (mm) for [Y1], and 700 (mm) for [Y2] as the positions of each Wall. Enable the checkboxes for [Z1] and [Z2], then enter -700 (mm) for [Z1], and 700 (mm) for [Z2] as the positions of each Wall.

  6. Check the set range in SLP Viewer.

  7. Apply settings.

Confirming the Operation of the Safety Limited Position (SLP)

Follow the procedure below to check the operation.

  1. Turn [SAFETY_IN3] ON (0V) to enable the Safety Limited Position.

  2. In Epson RC+, select [Tools] - [Robot Manager] - [Jog & Teach], and then move the robot to outside the wall (restricted area).

  3. Confirm that an emergency stop occurs and the robot operation stops.

How to reset
The following three methods can be used to reset an emergency stop or error status. For details on safety functions, refer to the following section.
Precautions for Using the Robot Controller Safety Functions

  • Method using safety inputs
  • Method using the motor brake release
  • Method using the Teach Pendant

Method using safety inputs

  1. Set [SAFETY_IN3] to the OFF status (24 V) to disable Safety Limited Position.

  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.

  4. Turn on the robot motors.
    EPSON RC+ 7.0: In EPSON RC+, select [Robot Manager] - [Control Panel], and then click the [MOTOR ON] button.
    Epson RC+ 8.0: In Epson RC+, select [Robot Manager] and then click the [Motor: Off] button.

  5. In Epson RC+, select [Tools] - [Robot Manager] - [Jog & Teach], and then move the robot to inside the wall (outside the restricted area).

Method using the motor brake release

How to Reset a SCARA Manipulator

  1. Release the motor brake.
    EPSON RC+ 7.0: In the EPSON RC+ [control panel]-[Free Joints], click the [Free All] button.
    Epson RC+ 8.0: In the Epson RC+ [Jog & Teach]-[Free Joints], click the [Free All] button.

  2. Move the robot by hand to outside the restricted area.

  3. 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.

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

How to Reset a 6-Axis Manipulator

One way is by using the brake release unit (option). For details, refer to the following manual.
"Manipulator Manual ‒ Safety - How to Move Arms with the Electromagnetic Brake"

Method using the Teach Pendant

  1. Attach the Teach Pendant to the Robot Controller and set the Robot Controller to TEACH mode.

CAUTION

When in TEACH mode, Safety Limited Position is disabled. Be careful of the robot's operations.

  1. Operate the Teach Pendant to move the robot to outside the restricted area.

  2. Change to AUTO mode and perform the reset operation using the Teach Pendant or Epson RC+.

  3. Use the Teach Pendant or Epson RC+ to confirm that [EStop] is turned off.

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