1 Description
1.2.2 Safety
18 Rev.N 3HAC9117-1
Safeguarded space stop
The robot has a number of electrical inputs which can be used to connect external
safety equipment, such as safety gates and light curtains. This allows the robot’s
safety functions to be activated both by peripheral equipment and by the robot itself.
Delayed safeguarded space stop
A delayed stop gives a smooth stop. The robot stops in the same way as at a normal
program stop with no deviation from the programmed path. After approx. 1 second
the power supplied to the motors shuts off.
Collision detection (option)
In case of an unexpected mechanical disturbance like a collision, electrode sticking
etc., the robot will stop and slightly back off from its stop position.
Restricting the working space
The movement of each axis can be restricted using software limits.
Axes 1-2 can also be restricted by means of mechanical stops and axis 3 by an
electrical switch (option).
Hold-to-run control
“Hold-to-run” means that you must depress the start button in order to move the
robot. When the button is released the robot will stop. The hold-to-run function
makes program testing safer.
Fire safety
Both the manipulator and control system comply with UL’s (Underwriters
Laboratories) tough requirements for fire safety.
Safety lamp (option)
The robot can be equipped with a safety lamp mounted on the manipulator. This is
activated when the motors are in the MOTORS ON state.
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