The safely chains must never be bypassed, modified or otherwise changed.
5.1.1 Emergency stops
Built-in emergency stop buttons are located on the control panel of the robot control
cubicle and on the teach pendant.
External emergency stop devices (buttons, etc.) can be connected to the safety chain by
the user (see Installation Manual). This has to be done in accordance with applicable
standards for emergency stop circuits.
Before taking into use upon commissioning, all emergency stop buttons must be checked
by the user to ensure their proper operation.
An emergency stop should be activated in case of danger to persons or
equipment. Before returning to MOTOR ON mode the cause of the stop must be
determined and the fault rectified.
5.1.2 Mode selection with key-switch
The applicable safety requirements in accordance with ISO/DIS 10218 on the use of
robots is characterised by different modes which are selected by means of control devices
with clear-cut positions.
One auto and two manual modes are available:
AUTO • Automatic operation
<250 mm/S MANUAL • Programming -
Adjustment at reduced speed
100?? MANUAL FULL SPEED • Test at working speed
For automatic operation with the key-switch in AUTO position, all safety arrangements,
such as doors, gates, light curtains, light beams and sensitive mats, etc., must be active.
No person must be present inside the space marked off by the safety arrangements. All
controls, such as emergency stop, the control panel and control cubicle must be easily
accessible from outside the safeguarded space.
The MANUAL or MANUAL FULL SPEED mode must be selected when programming,
testing or service work is to be performed inside the space enclosed by safeguarding
arrangements. Movement of the robot must be executed from the teach pendant and with
Hold-to-run control.
Programming and test at reduced speed; key-switch in MANUAL
position
Robot movements at reduced speed can be performed as follows:
• Key-switch in MANUAL 250 mm/s position
• Programs can be started only from the teach pendant and with the enabling device
activated.
Safety 1KB 2000 1KB 3000
5 1KB 3200 1KB 6000
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