5 Safety functions
5.1 The safety control chain of operation
The safety control chain of operation is based on dual electrical safety chains which
interact with the robot computer to enable the robot to be put and stay in the MOTOR
ON mode.
These electrical safety chains are continuously monitored and the robot reverts to the
MOTOR OFF mode when a fault detected by the control computer arises. MOTOR OFF
mode means that drive power is removed from the robot's motors and the brakes are
applied.
The electrical safety chains consist of several switches connected in series in such a way
that they must all be closed before the robot can be put into MOTOR ON mode and power
supplied to the motors.
THE ELECTRICAL SAFETY CHAINS
OPERATING
MODE
SELECTOR
24V
OV
AUTO
MANUAL REDUCED SPEED
MANUAL FULL SPEED
GS ES LJMSW
COMPUTER
OUTPUTS
ENABLE
MOTOR
ON
GS ES LIMSW ENABLE
MOTOR
ON
MCI
-B-
MC2
-B-
OV
24 V
AS = AUTO MODE SAFEGUARDED SPACE STOP
MS
=
MANUAL MODE SAFEGUARDED SPACE STOP
GS - GENERAL MODE SAFEGUARDED SPACE STOP
ES = EMERGENCY STOP BUTTONS
MCI = MOTOR CONTACTOR 1
MC2 = MOTOR CONTACTOR 2
BC = BRAKE CONTACTOR
MCI MC2
3x240 VAC
24 V DC
Vf /)/• DRIVE UNTTS
I BC
• BRAKES
The position of the switches is indicated by the light diodes on the front of the system
board in the control cabinet.
When any contact in the safety chain of operation is opened the system will always revert
to the MOTOR OFF mode.
After a stop, the switch has to be reset at the unit which caused the stop before the
system can be ordered to start again.
Safety
IRB2000
1KB 3200
IRB3000
1KB 6000
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