2.11.2 Installation of external enabling device
Overview
IRC5 is delivered with one enabling device but have the possibility to connect one
additional external enabling device (cannot be ordered from ABB Robotics).
When an external enabling device is used together with the three-position enabling
device on the teach pendant, both enabling devices must be enabled to be able
to operate the manipulator in manual mode.
Connecting the external enabling device
The external enabling device must be connected to the safety board connector X6
pin 7-10 as shown in the figure below.
X6.7 (EN1_1A)
X6.9 (EN2_1B)
xx1600000181
The enabling device chain is enabled if X6 pin 7 is short circuited with X6 pin 8 at
the same time as X6 pin 9 is short circuited with X6 pin 10.
Requirement on the external enabling device
The external enabling device connected to IRC5 must have the following
characteristics:
• Redundant channels.
• Three-position enabling device. When the enabling device is pressed to the
center position the enabling device chain must be enabled. When the enabling
device is released or pressed to third position, the enabling device chain
must be disabled.
• The enabling device must have a B10 value of at least 100000 cycles (less
than 10% chance of failure before 100000 cycles).
• The mean time to dangerous failure (MTTF
d
) of the external enabling device
must be high enough to ensure that the external enabling device together
Continues on next page
102 Product manual - IRC5 Compact
3HAC047138-001 Revision: G
© Copyright 2009-2017 ABB. All rights reserved.
2 Installation and commissioning
2.11.2 Installation of external enabling device
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