Epson GX Series User manual

Industrial Robot: SCARA Robots
GX series Manual
Original instructions
©Seiko Epson Corporation 2021-2023
Rev.7
ENM236R5752F

Table of Contents
1. Introduction 11
1.1 Introduction 12
1.2 Trademarks 12
1.3 Terms of Use 12
1.4 Manufacturer 12
1.5 Contact Information 12
1.6 Disposal 12
1.7 Before Use 12
1.8 Manual Types for This Product 13
2. GX4 Manipulator 15
2.1 Safety 16
2.1.1 Conventions Used in This Manual 16
2.1.2 Design and Installation Safety 17
2.1.2.1 Strength of the Ball Screw Spline 17
2.1.3 Operation Safety 18
2.1.4 Emergency Stop 19
2.1.5 Safeguard (SG) 19
2.1.6 Arm Movement Method in the Emergency Stop State 20
2.1.7 ACCELS Setting for CP Motion 22
2.1.8 Warning Labels 24
2.1.8.1 Warning Labels 24
2.1.8.2 Information Labels 24
2.1.8.3 Labelled Locations 25
2.1.9 Responses for Emergencies or Malfunctions 27
2.1.9.1 When a Collision with the Manipulator Occurs 27
2.1.9.2 Entanglement with the Manipulator 27
2.2 Specifications 29
2.2.1 Model Name GX4-A 29
2.2.2 Model Name GX4-B 33
2.2.3 Names of Parts and Their Dimensions 37
2.2.3.1 Table Top Mounting Specifications 37
2.2.3.1.1 Cable Mounting Direction: Standard 37
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2.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side 44
2.2.3.2 Multiple Mounting Specifications 50
2.2.4 Specifications Table 57
2.2.5 How to Set the Model 57
2.3 Environment and Installation 58
2.3.1 Environment 58
2.3.2 Base Table 59
2.3.3 Manipulator Mounting Dimensions 61
2.3.4 From Unpacking to Installation 63
2.3.4.1 Safety Information for the Flow from Unpacking to Installation 63
2.3.4.2 Table Top Mounting Specifications 64
2.3.4.3 Multiple Mounting Specifications 66
2.3.4.4 Cleanroom & ESD Specifications 68
2.3.5 Connecting the Cables 69
2.3.6 User Wires and Pneumatic Tubes 71
2.3.6.1 Electrical Wires 71
2.3.6.2 Pneumatic Tubes 72
2.3.7 Relocation and Storage 75
2.3.7.1 Safety Information for Relocation and Storage 75
2.3.7.2 Table Top Mounting Specifications 76
2.3.7.3 Multiple Mounting Specifications 79
2.4 Setting the Hand 82
2.4.1 Installing the Hand 82
2.4.2 Attaching Cameras and Valves 83
2.4.3 Weight and Inertia Settings 84
2.4.3.1 Weight Setting 85
2.4.3.1.1 Weight of Load Attached to Shaft 85
2.4.3.1.2 Weight of Load Attached to Arm 85
2.4.3.1.3 Automatic Speed Correction at Weight Setting 86
2.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 87
2.4.3.2 Inertia Setting 89
2.4.3.2.1 Moment of Inertia and Inertia Setting 89
2.4.3.2.2 Moment of Inertia of Load Attached to Shaft 89
2.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia)
Setting
90
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2.4.3.2.4 Eccentricity and Inertia Setting 90
2.4.3.2.5 Eccentricity of Load Attached to Shaft 91
2.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 91
2.4.3.2.7 Calculating the Moment of Inertia 92
2.4.4 Safety Information for Auto Acceleration of Joint #3 93
2.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position 93
2.5 Work Envelope 95
2.5.1 Work Envelope Setting by Pulse Range 96
2.5.1.1 Joint #1 Maximum Pulse Range 96
2.5.1.2 Joint #2 Maximum Pulse Range 98
2.5.1.3 Joint #3 Maximum Pulse Range 100
2.5.1.3.1 Joint #4 Maximum Pulse Range 100
2.5.2 Setting the Work Envelope by Mechanical Stops 101
2.5.2.1 Setting the Mechanical Stops of Joints #1 and #2 102
2.5.2.2 Setting the Mechanical Stop of Joint #3 107
2.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator 110
2.5.4 Standard Work Envelope 110
3. GX8 Manipulator 116
3.1 Safety 117
3.1.1 Conventions Used in This Manual 117
3.1.2 Design and Installation Safety 118
3.1.2.1 Strength of the Ball Screw Spline 118
3.1.3 Operation Safety 119
3.1.4 Emergency Stop 120
3.1.5 Safeguard (SG) 120
3.1.6 Arm Movement Method in the Emergency Stop State 121
3.1.7 ACCELS Setting for CP Motion 123
3.1.8 Warning Labels 124
3.1.8.1 Warning Labels 124
3.1.8.2 Information Labels 124
3.1.8.3 Labelled Locations 125
3.1.9 Responses for Emergencies or Malfunctions 126
3.1.9.1 When a Collision with the Manipulator Occurs 126
3.1.9.2 Entanglement with the Manipulator 126
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3.2 Specifications 128
3.2.1 Model Name GX8-A 128
3.2.2 Model Name GX8-B 136
3.2.3 Names of Parts and Their Dimensions 143
3.2.3.1 Table Top Mounting Specifications 143
3.2.3.1.1 Cable Mounting Direction: Standard 143
3.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side 152
3.2.3.2 Wall Mounting Specifications 161
3.2.3.3 Ceiling Mounting Specifications 170
3.2.4 Specifications Table 179
3.2.5 How to Set the Model 179
3.3 Environment and Installation 179
3.3.1 Environment 179
3.3.2 Base Table 181
3.3.3 Manipulator Mounting Dimensions 183
3.3.4 From Unpacking to Installation 186
3.3.4.1 Safety Information for the Flow from Unpacking to Installation 186
3.3.4.2 Table Top Mounting Specifications 189
3.3.4.3 Wall Mounting Specifications 191
3.3.4.4 Ceiling Mounting Specifications 193
3.3.4.5 Cleanroom & ESD-Model 195
3.3.4.6 Protected-Model 195
3.3.5 Connecting the Cables 196
3.3.6 User Wires and Pneumatic Tubes 199
3.3.6.1 Electrical Wires 199
3.3.6.2 Pneumatic Tubes 200
3.3.7 Relocation and Storage 204
3.3.7.1 Safety Information for Relocation and Storage 204
3.3.7.2 Table Top Mounting Specifications 205
3.3.7.3 Wall Mounting Specifications 208
3.3.7.4 Ceiling Mounting Specifications 212
3.4 Setting the Hand 215
3.4.1 Installing the Hand 215
3.4.2 Attaching Cameras and Valves 216
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3.4.3 Weight and Inertia Settings 219
3.4.3.1 Weight Setting 219
3.4.3.1.1 Weight of Load Attached to Shaft 220
3.4.3.1.2 Weight of Load Attached to Arm 220
3.4.3.1.3 Automatic Speed Correction at Weight Setting 221
3.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 223
3.4.3.2 Inertia Setting 225
3.4.3.2.1 Moment of Inertia and Inertia Setting 225
3.4.3.2.2 Moment of Inertia of Load Attached to Shaft 226
3.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia)
Setting
226
3.4.3.2.4 Eccentricity and Inertia Setting 226
3.4.3.2.5 Eccentricity of Load Attached to Shaft 227
3.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 227
3.4.3.2.7 Calculating the Moment of Inertia 228
3.4.4 Safety Information for Auto Acceleration of Joint #3 229
3.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position 229
3.5 Work Envelope 231
3.5.1 Work Envelope Setting by Pulse Range 232
3.5.1.1 Joint #1 Maximum Pulse Range 232
3.5.1.2 Joint #2 Maximum Pulse Range 233
3.5.1.3 Joint #3 Maximum Pulse Range 235
3.5.1.4 Joint #4 Maximum Pulse Range 236
3.5.2 Setting the Work Envelope by Mechanical Stops 237
3.5.2.1 Setting the Mechanical Stops of Joints #1 and #2 238
3.5.2.2 Setting the Mechanical Stop of Joint #3 244
3.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator 247
3.5.4 Standard Work Envelope 247
4. GX10 GX20 Manipulators 255
4.1 Safety 256
4.1.1 Conventions Used in This Manual 256
4.1.2 Design and Installation Safety 257
4.1.2.1 Strength of the Ball Screw Spline 257
4.1.3 Operation Safety 258
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4.1.4 Emergency Stop 259
4.1.5 Safeguard (SG) 259
4.1.6 Arm Movement Method in the Emergency Stop State 260
4.1.7 ACCELS Setting for CP Motion 262
4.1.8 Warning Labels 263
4.1.8.1 Warning Labels 263
4.1.8.2 Information Labels 263
4.1.8.3 Labelled Locations 264
4.1.9 Responses for Emergencies or Malfunctions 265
4.1.9.1 When a Collision with the Manipulator Occurs 265
4.1.9.2 Entanglement with the Manipulator 265
4.2 Specifications 267
4.2.1 Model Name GX10-B/GX20-B 267
4.2.2 Names of Parts and Their Dimensions 272
4.2.2.1 Table Top Mounting Specifications 272
4.2.2.2 Wall Mounting Specifications 279
4.2.2.3 Ceiling Mounting Specifications 286
4.2.3 Specifications Table 293
4.2.4 How to Set the Model 293
4.3 Environment and Installation 293
4.3.1 Environment 293
4.3.2 Base Table 295
4.3.3 Manipulator Mounting Dimensions 297
4.3.4 From Unpacking to Installation 299
4.3.4.1 Safety Information for the Flow from Unpacking to Installation 299
4.3.4.2 Table Top Mounting Specifications 302
4.3.4.3 Wall Mounting Specifications 304
4.3.4.4 Ceiling Mounting Specifications 305
4.3.4.5 Cleanroom & ESD-Model 307
4.3.4.6 Protected-Model 307
4.3.5 Connecting the Cables 308
4.3.6 User Wires and Pneumatic Tubes 310
4.3.6.1 Electrical Wires 310
4.3.6.2 Pneumatic Tubes 311
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4.3.7 Relocation and Storage 314
4.3.7.1 Safety Information for Relocation and Storage 314
4.3.7.2 Table Top Mounting Specifications 315
4.3.7.3 Wall Mounting Specifications 317
4.3.7.4 Ceiling Mounting Specifications 320
4.4 Setting the Hand 323
4.4.1 Installing the Hand 323
4.4.2 Attaching Cameras and Valves 325
4.4.3 Weight and Inertia Settings 327
4.4.3.1 Weight Setting 327
4.4.3.1.1 Weight of Load Attached to Shaft 327
4.4.3.1.2 Weight of Load Attached to Arm 327
4.4.3.1.3 Automatic Speed Correction at Weight Setting 329
4.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 329
4.4.3.2 Inertia Setting 330
4.4.3.2.1 Moment of Inertia and Inertia Setting 330
4.4.3.2.2 Moment of Inertia of Load Attached to Shaft 330
4.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia)
Setting
331
4.4.3.2.4 Eccentricity and Inertia Setting 331
4.4.3.2.5 Eccentricity of Load Attached to Shaft 332
4.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 332
4.4.3.2.7 Calculating the Moment of Inertia 332
4.4.4 Safety Information for Auto Acceleration of Joint #3 334
4.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position 334
4.5 Work Envelope 335
4.5.1 Work Envelope Setting by Pulse Range 335
4.5.1.1 Joint #1 Maximum Pulse Range 336
4.5.1.2 Joint #2 Maximum Pulse Range 336
4.5.1.3 Joint #3 Maximum Pulse Range 338
4.5.1.4 Joint #4 Maximum Pulse Range 339
4.5.2 Setting the Work Envelope by Mechanical Stops 340
4.5.2.1 Setting the Mechanical Stops of Joints #1 and #2 341
4.5.2.2 Setting the Mechanical Stop of Joint #3 346
4.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator 352
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4.5.4 Standard Work Envelope 352
5. Periodic Inspection 359
5.1 GX4 Manipulator Periodic Inspection 360
5.1.1 Inspection 360
5.1.1.1 Inspection Schedule 360
5.1.1.2 Inspection Details 361
5.1.2 Overhaul (Parts Replacement) 362
5.1.3 Applying Grease 362
5.1.4 Tightening the Hexagon Socket Head Cap Bolts 367
5.2 GX8 Manipulator Periodic Inspection 368
5.2.1 Inspection 368
5.2.1.1 Inspection Schedule 368
5.2.1.2 Inspection Details 369
5.2.2 Overhaul (Parts Replacement) 370
5.2.3 Applying Grease 370
5.2.4 Tightening the Hexagon Socket Head Cap Bolts 375
5.3 GX10/GX20 Manipulator Periodic Inspection 376
5.3.1 Inspection 376
5.3.1.1 Inspection Schedule 376
5.3.1.2 Inspection Details 377
5.3.2 Overhaul (Parts Replacement) 378
5.3.3 Applying Grease 378
5.3.4 Tightening the Hexagon Socket Head Cap Bolts 383
6. Appendix 384
6.1 Appendix A: Specifications Table 385
6.1.1 GX4 385
6.1.2 GX8 391
6.1.3 GX10/20 397
6.2 Appendix B: Stopping Time and Stopping Distance at Emergency Stop 401
6.2.1 GX4 Stopping Time and Stopping Distance at Emergency Stop 402
6.2.2 GX8 Stopping Time and Stopping Distance at Emergency Stop 408
6.2.3 GX10 Stopping Time and Stopping Distance at Emergency Stop 414
6.2.4 GX20 Stopping Time and Stopping Distance at Emergency Stop 416
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6.3 Appendix C: Stopping Time and Stopping Distance When Safeguard is Open 418
6.3.1 GX4 Stopping Time and Stopping Distance When Safeguard is Open 418
6.3.2 GX8 Stopping Time and Stopping Distance When Safeguard is Open 425
6.3.3 GX10 Stopping Time and Stopping Distance When Safeguard is Open 431
6.3.4 GX20 Stopping Time and Stopping Distance When Safeguard is Open 433
6.4 Appendix D: Correction Area for Arm Length Correction 435
6.4.1 GX4 Series 435
6.4.2 GX8 Series 436
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1. Introduction
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1.1 Introduction
Thank you for purchasing this Epson robot system. This manual provides the information necessary for correctly using the
robot system.
Before using the system, please read this manual and related manuals to ensure correct use.
After reading this manual, store it in an easily accessible location for future reference.
Epson conducts rigorous testing and inspection to ensure that the performance of our robot systems meets our standards. Please
note that if the Epson robot system is used outside the operating conditions described in the manual, the product will not
perform up to its basic performance.
This manual describes potential hazards and problems that are foreseen. To use the Epson robot system safely and correctly, be
sure to follow the safety information contained in this manual.
1.2 Trademarks
Microsoft, Windows, and the Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the
United States and/or other countries. All other company names, brand names, and product names are registered trademarks or
trademarks of their respective companies.
1.3 Terms of Use
No part of this instruction manual may be reproduced or reprinted in any form without express written permission.
The information in this document is subject to change without notice.
Please contact us if you find any errors in this document or if you have any questions about the information in this document.
1.4 Manufacturer
1.5 Contact Information
For detailed contact information, see "SUPPLIER" in the manual below.
"Safety Manual"
1.6 Disposal
When disposing of this product, please do so in accordance with the laws and regulations of your country.
1.7 Before Use
Before using this manual, be sure that you understand the following information.
Control system configuration
The GX Manipulator is made up of a combination of the following Controller and software.
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Manipulator Controller Software
GX-A series RC700-D EPSON RC+ 7.0 Ver. 7.5.1B or later
GX4-B,GX8-B series
RC700-E
EPSON RC+ 7.0 Ver.7.5.4 or later
GX10-B, GX20-B series EPSON RC+ 7.0 Ver.7.5.4A or later
Setting from the software
This manual contains the procedures for configuring the settings from the software.
Use of this software is indicated by the above mark.
Controller power on (off)
In this manual, an instruction to "Turn on (off) the Controller power" means to turn on the power for the hardware that makes
up your Controller.
Images used in this manual
The photos and illustrations of the Manipulators shown in this manual may differ in shape and appearance from your
Manipulator due to the time it was shipped, specifications, and other factors.
1.8 Manual Types for This Product
This describes the typical types of manuals for this product and presents an overview of their content.
Safety Manual (booklet, PDF manual)
This manual contains safety-related information intended for all people who use this product. It also guides the user
through the process from unpacking to usage and the manuals that should be referred to next.
Please read this manual first.
Safety information and residual risks of robot systems
Declaration of Conformity
Training
Process from unpacking to usage
Robot Controller Safety Function Manual (PDF manual)
This describes the procedures for configuring the safety functions of this product and the configuration software. It is
primarily intended for those who design robot systems.
RC700-D Manual, RC700-E Manual (PDF manual)
This manual describes the installation of the entire robot system and explains the specifications and functions of the
Controller. It is primarily intended for those who design robot systems.
Robot system installation procedure (specific details on the process from unpacking to usage)
Controller daily inspection points
Controller specifications and basic functions
GX Series Manual (PDF manual)
This manual describes the specifications and functions of the Manipulator. It is primarily intended for those who design
robot systems.
Manipulator installation, technical information needed for design, function and specification tables, etc.
Manipulator daily inspection points
EPSON
RC+
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Status Code/Error Code List (PDF manual)
This provides the code numbers displayed on the Controller and messages displayed in the message area of the software. It
is primarily intended for those who design and program robot systems.
EPSON RC+ User's Guide (PDF manual)
This manual presents an overview of the program development software.
EPSON RC+ SPEL+ Language Reference (PDF manual)
This manual explains the robot programming language SPEL+.
Other manuals (PDF manuals)
Manuals are available for each option.
Maintenance and servicing manuals
Manuals for maintenance and servicing are not included with the product.
Maintenance should be performed by people who have received maintenance training provided by Epson and the suppliers. For
more information, please contact the supplier.
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2. GX4 Manipulator
This chapter contains information for setup and operation of the Manipulators. Please read this chapter thoroughly before
setting up and operating the Manipulators.
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2.1 Safety
The Manipulator and its related equipment should be unpacked and transported by people who have received installation
training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
Before use, please read this manual and other related manuals to ensure correct use.
After reading this manual, store it in an easily accessible location for future reference.
This product is intended for transporting and assembling parts in a safely isolated area.
2.1.1 Conventions Used in This Manual
The following symbols are used in this manual to indicate important safety information. Be sure to read the descriptions shown
with each symbol.
WARNING
This symbol indicates an imminently hazardous situation which, if operation is not performed properly, will result
in death or serious injury.
WARNING
This symbol indicates a potentially hazardous situation which, if operation is not performed properly, could result
in an injury due to electric shock.
CAUTION
This symbol indicates a potentially hazardous situation which, if operation is not performed properly, may result in
an injury or in property damage only.
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2.1.2 Design and Installation Safety
The robot system should be designed and installed by people who have received installation training provided by Epson and
the suppliers.
Design personnel should refer to the following manuals:
"Safety Manual"
"Controller Manual"
"Manipulator Manual"
Refer to the following section for the installation safety information.
Environment and Installation
Be sure to read this section and follow the safety information before installation to ensure that the installation work is
performed safely.
2.1.2.1 Strength of the Ball Screw Spline
If a load exceeding the allowable bending load is applied to the ball screw spline, it may not work properly due to deformation
or breakage of the shaft.
If a load exceeding the allowable value is applied to the ball screw spline, the ball screw spline unit must be replaced.
The allowable load varies depending on the distance over which the load is applied. To calculate the allowable load, refer to
the formula below.
Allowable bending moment
GX4: M=13,000 N∙mm
Calculation example: 130 N load applied at 100 mm from the end of the spline nut
Moment
M=F∙L=100∙130=13,000 N∙mm
Symbol Description
a Spline nut end
L
F
a
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2.1.3 Operation Safety
The following items are safety precautions for operating personnel:
WARNING
Be sure to read the Safety Manual before use. Operating the robot system without understanding the safety
information can be extremely dangerous and may result in serious injury or severe equipment damage.
Before operating the robot system, make sure that no one is inside the safety barriers. The robot system can
be operated in the teaching operation mode even when someone is inside the safety barriers. Even though
the motion of the Manipulator is always restricted (low speed and low power) to ensure operator safety, an
unexpected movement by the Manipulator can be extremely dangerous and may cause serious safety
problems.
If the Manipulator makes any abnormal movements during operation of the robot system, do not hesitate to
immediately press the emergency stop switch.
WARNING
To perform the power supply lockout, remove the power plug. Be sure to connect the AC power cable to a
power outlet. Do not connect it directly to a factory power source.
Before performing any replacement work, inform others in the area that you are working, and then turn off the
Controller and related equipment, and unplug the power cable from the power source. Performing any work
procedure with the power turned on is extremely dangerous and may result in electric shock and/or
malfunction of the robot system.
Do not connect or disconnect the connector of the M/C cable while the Controller is turned on. There is a risk
the Manipulator may malfunction, which is extremely hazardous. Also, performing any work procedure with
the power turned on may result in electric shock and/or malfunction of the robot system.
CAUTION
As a general rule, the robot system should be operated by only one person. If it is necessary to operate with
more than one person, ensure that all personnel communicate with each other and take all necessary safety
precautions.
Joints #1, #2, and #4:
If the Manipulator is operated repeatedly with an operating angle of 5° or less, the bearings used in the joints
are likely to cause oil film shortage. Repeated operation may cause premature damage. To prevent premature
damage, operate the Manipulator to move each joint to an angle of 50° or more about once per hour.
Joint #3:
If the up-and-down motion of the hand is 10 mm or less, move the hand about half or more of its maximum
stroke about once per hour.
When the robot is operating at low speed (Speed: 5 to 20%), vibration (resonance) may occur continuously
during operation depending on the combination of the arm orientation and hand load. Vibration occurs due to
the natural vibration frequency of the arm and can be reduced by taking the following measures:
Changing the robot speed
Changing the teach points
Changing the hand load
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2.1.4 Emergency Stop
Each robot system needs equipment that will allow the operator to immediately stop the system's operation. Install an
emergency stop device by using emergency stop input from the Controller or other equipment.
Before using the emergency stop switch, be aware of the following points.
The emergency stop switch should be used to stop the Manipulator only in case of emergencies.
Besides pressing the emergency stop switch when an emergency occurs, to stop the Manipulator during program operation,
use the Pause or STOP (program stop) statements assigned to a standard I/O.
The Pause and STOP statements do not turn off motor energization, and so the brake is not locked.
To place the robot system in emergency stop mode in a non-emergency (normal) situation, press the emergency stop switch
while the Manipulator is not operating.
Do not press the emergency stop switch unnecessarily while the Manipulator is operating normally.
It could shorten the lifespan of the following components.
Brakes
The brakes will be locked, which will shorten the lifespan of the brakes due to worn brake friction plates.
Normal brake lifespan:
About 2 years (when the brakes are used 100 times/day)
or about 20,000 times
Reduction gears
An emergency stop applies an impact to the reduction gear, which can shorten its life.
If the Manipulator is stopped by turning off the Controller while it is operating, the following problems may occur.
Reduced life and damage to reduction gear
Position shift at the joints
If a power outage or other unavoidable Controller power-off occurs during Manipulator operation, check the following points
after power is restored.
Damage in reduction gear
Shifting of the joints from their proper positions
If there was any shifting, maintenance is required. For more information, please contact the supplier.
Stopping distance of emergency stop
The Manipulator during operation cannot stop immediately after the emergency stop switch is pressed. Also, the stopping time
and movement distance vary depending on the following factors.
Hand weight, WEIGHT setting, ACCEL setting, workpiece weight, SPEED setting, movement posture, etc.
For the stopping time and movement distance of the Manipulator, refer to the following section.
Appendix B: Stopping Time and Stopping Distance at Emergency Stop
2.1.5 Safeguard (SG)
To maintain a safe working zone, safety barriers must be set up around the Manipulator, and safeguards must be installed at the
entrance and exit of the safety barriers.
The term "safeguard" as used in this manual refers to a safety device with an interlock that allows entry into the safety barriers.
Specifically, this includes safety door switches, safety barriers, light curtains, safety gates, safety floor mats, and so on. The
safeguard is an input that informs the Robot Controller that an operator may be inside the safeguard area. You must assign at
least one Safeguard (SG) in Safety Function Manager.
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When the safeguard is opened, Protective Stop operates to change to the safeguard open state (display: SO).
Safeguard open
Operations are prohibited. Further robot operation is not possible until either the safeguard is closed, the latched state is
released, and a command is executed, or the TEACH or TEST operation mode is turned on and the enable circuit is
activated.
Safeguard closed
The robot can operate automatically in an unrestricted (high power) state.
WARNING
If a third party accidentally releases the safeguard while an operator is working inside the safety barriers, this
may result in a hazardous situation. To protect the operator working inside the safety barriers, implement
measures to lock out or tag out the latch release switch.
To protect operators working near the robot, be sure to connect a safeguard switch and make sure that it
works properly.
Installing safety barriers
When installing safety barriers within the maximum range of the Manipulator, combine safety functions such as SLP. Carefully
take into account the size of the hand and the workpieces to be held so that no interference occurs between the operating parts
and the safety barriers.
Installing safeguards
Design the safeguards so that they satisfy the following requirements:
When using a key switch type safety device, use a switch that forcibly opens the interlock contacts. Do not use switches
that open their contacts using the spring force of the interlock.
When using an interlock mechanism, do not disable the interlock mechanism.
Considering the stopping distance
During operation, the Manipulator cannot stop immediately even if the safeguard is opened. Also, the stopping time and
movement distance vary depending on the following factors.
Hand weight, WEIGHT setting, ACCEL setting, workpiece weight, SPEED setting, movement posture, etc.
For the stopping time and movement distance of the Manipulator, refer to the following section.
Appendix C: Stopping Time and Stopping Distance When Safeguard is Open
Precautions for safeguard operation
Do not open the safeguard unnecessarily while the motor is energized. Frequent safeguard inputs will reduce the life of the
relay.
Normal relay lifespan: About 20,000 times
2.1.6 Arm Movement Method in the Emergency Stop State
In the emergency stop state, move the Manipulator joints directly by hand as shown below.
Joint #1:
Push Arm #1 by hand.
Joint #2:
Push Arm #2 by hand.
Industrial Robot: SCARA Robots GX series Manual Rev.7
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