3. Safe working procedures
Safe working procedures have to be followed to avoid injury while performing an assigned
task. No safety device or circuit may at any time be modified, bypassed or otherwise
changed.
3.1 Normal operations
All normal operations in automatic mode are to be executed from outside the safeguarded
space.
3.2 Programming, testing, service
Approaching a robot which is in operation always entails a risk. The robot develops
considerable forces even at low speed. When entering into the robot's safeguarded space
the applicable safety regulations of the country concerned have also to be observed.
In exceptional cases, when work within the robot's work envelope cannot be
avoided, the following must be observed:
The key-operated switch on the control systemt must be in the MANUAL or
MANUAL FULL SPEED position to render the enabling device operative and to
block operation from any computer link or remote control panel.
When the key-operated switch is in the MANUAL position the robot's speed is
limited to max. 250 mm/s (10 inches/s). This should be the normal position when
entering into the working space. The MANUAL FULL SPEED position allowing full
speed may only be used by trained personnel who are aware of the risks that this
entails.
During programming and testing, the robot system is to be in the MOTOR OFF,
enabeling device released, mode to ensure that the robot is not moving. The use of
MOTOR ON, enabeling device de pressed, mode to move the robot during program-
ming and testing must be reduced to a minimum.
• The enabling device must never be rendered inoperative in any way.
• The teach pendant must always be taken along by the programmer when entering
through the safety gate to the robot's working space so that no other persons can
take over control of the robot without the knowledge of the programmer inside the
robot's working space.
• The operator must be aware that the robot can make unexpected movements, e.g.
due to a programming error. A robot program consists of a series of different
movements. A pause (stop) in a pattern of movements may be followed by a
movement at high speed. The operator must also be aware that external signals
often affect robot programs so that a certain pattern of movement is changed without
warning on the teach pendant.
Safety
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