Installation guide

2. Installation

RC180 Safety and Installation Rev.19

In order to maintain a safe working zone, a safeguard must be erected around the

Manipulator. The safeguard must have an interlock switch at the entrance to the

working zoon. The Safety Door that is described in this manual is one of the

safeguards and an interlock of the Safety Door is called a Safety Door switch.

Connect the Safety Door switch to the Safety Door input terminal on the

EMERGENCY connector.

The Safety Door switch has safety features such as temporary hold-up of the

program or the operation-prohibited status that are activated whenever the Safety

Door is opened.

Observe the following in designing the Safety Door switch and the Safety Door.

- For the Safety Door switch, select a switch that opens as the Safety Door

opens, and not by the spring of the switch itself.

- The signal from the Safety Door (Safety Door input) is designed to input to

two redundant signals. If the signals at the two inputs differ by two seconds

or more, the system recognizes it to be a critical error. Therefore, make sure

that the Safety Door switch has two separate redundant circuits and that each

connects to the specified pins at the EMERGENCY connector on the

Controller.

- The Safety Door must be designed and installed so that it does not close

accidentally.

Latch Release Switch

The controller software latches the following conditions:

- The safety door is open.

- The operation mode is “TEACH”.

The EMERGENCY connector has an input terminal for a latch release switch that

cancels the latched conditions.

Open : The latch release switch latches conditions that the safety door is

open or the operation mode is “TEACH”.

Closed : The latch release switch releases the latched conditions.

When the latched TEACH mode is released while the safety door is open, the

status of Manipulator power is operation-prohibited because the safety door is

open at that time.

To execute a Manipulator operation, close the safety door again, and then close the

latch release input.

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NOTE