10 User Manual for the Meca500 Industrial Robot (for rmware 10.1)
SAFETY
2.3.2 Releasing the brakes
You can disable the brakes of joints 1, 2 and 3, ONLY if the robot motors are powered AND the robot
is deactivated. (There are no purely mechanical means for doing so.) This means that the E-Stop or
protective stop should not be activated, which does not meet the requirements of ISO 10218-1:2011.
The only situation where you might need to disable the robot brakes and move the robot by hand,
is if you are about to power up the robot, but some of its links are leaning against an obstacle, thus
preventing a joint to rotate in both directions. This slight rotation is part of the homing procedure, which
is necessary only during the first activation of the robot (after a power-up). That said, in such a scenario,
always try to use the recovery mode first, which does not require homing. This would avoid having to
disable the brakes.
If you do need to disable the brakes, with a safety feature like a light curtain installed to prevent
entry into the robot's safety zone without triggering the P-Stop 1 (as in Figure3), disengaging the
robot's brakes while manually holding the robot becomes impossible. To proceed, you would need to
temporarily swap your current D-Sub connection with our D-Sub dongle.
If your hands are penetrating the working zone of the Meca500, keep your fingers away from
the pinch points of the robot. The procedure for disengaging the brakes of the robot while
holding the robot does not meet the requirements of ISO 10218-1:2011.
Once you can approach the robot without triggering a P-Stop 1 event, turn on the power and ensure
that the E-Stop on the power supply is not pressed. Next, to minimize the risks that a remote commands
activates the robot, unplug the Ethernet cable controlling the robot. Then, while the robot is still
deactivated, press one of the two 0G buttons on the base of the robot continuously while holding the
robot with your other hand. After 3 seconds, you will hear the deactivation of the brakes. Continue
holding the 0G button pressed and move the robot links away from obstacles. Finally, release the 0G
button, and move away from the robot.
Note that in the case of a collision, the robot is not deactivated and you can easily reset the
motion error and jog the robot away, without entering the safety enclosure of the robot. If you
are worried about damaging your equipment, it is advisable to first enter recovery mode (as
described in the Programming Manual).
2.3.3 Stopping times and distances
As already mention, in the Meca500, when an E-Stop is applied, the power supply sends a signal to the
robot to decelerate to a complete stop and after 450 ms removes power from the robot (R3) or from the
motors (R4). Once, power is removed from the motors, the brakes are automatically applied.
Table 2 shows values for the worst possible scenario, where the stop signal from the power supply
is not detected by the robot. These are only theoretical values, because applying the brakes without
decelerating the robot will permanently damage the robot. The actual values will be slightly larger due to
the slip of the brake pads.
Note that only the E-Stop functionality is designed to achieve PL=d. Therefore, we cannot
guarantee that the robot will immediately detect the signal from the power supply.
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