5.1.8 Function, limitation of range of motion
For certain applications, movement round the robot's main axes must be limited in such a
way that sufficiently large safety zones are created to avoid the danger of injuries caused
by collision between the robot and external safety arrangements such as a barrier, etc.
Movement round axes 1 and 2 can be limited with adjustable mechanical stops, and
round axis 3 by means of electrical limit switches or mechanical stops. In connection
with limitation of the range of motion by means of stops or switches, corresponding
software limitation parameters must also be effected. Apart from the main axes,
movement round the three wrist axes can also be limited by the computer software if
necessary. Limitation of movement round the axes is to be carried out by the user (see
Installation Manual).
5.2 Supplementary functions
Functions via specific digital inputs:
• Stop through "program interrupt" or "instruction interrupt" can be activated through
connections to digital inputs. These inputs can be used to stop programs in the event
of a fault in the peripheral equipment, for example.
• Calling a program (programs 1-5) can be initiated through digital inputs directly or
on conclusion of an ongoing instruction. These subroutines may contain routines
governing the robot's actions in the event of a fault in the peripheral equipment.
Functions via specific digital outputs:
The following functions can be achieved through connection to these outputs:
• ERROR which indicates a fault in the robot system. Three different ERROR outputs
are available (see Installation Manual S3).
• CYCLE ON which indicates that the robot system is executing a program.
• MOTOR ON which indicates that the robot system is in MOTOR ON mode.
Safety IBB 2000 1KB 3000
8 IRB 3200 IBB 6000
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