2.3.3.Final Application
Expected SystemBehaviorinNormalOperatingConditions
NOTICE
Various typesof external safety devicescan interface with the Robotiq Palletizing Solution to ensure
a safe operation.
NOTICE
l
Category 0 Stop: Stops the Solution by immediate removal of power.
l
Category 1 Stop: A controlled stop of the Solution. Power is removed when the stop is achieved.
l
Category 2 Stop: A controlled stop of the Solution. Power is still available once the stop is
achieved.
Please refer to IEC 60204-1 for additional information on stop categories.
l
Normal mode: The palletizer continuously fills pallets when no human operator is in the vicinity of the palletizing cell.
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Safeguarded operation
o
Reduced mode: The palletizer continuously fills pallets, even when an operator enters the palletizing cell. The operator can
safely remove a filled pallet or place a pallet in an empty slot. The system will not start to palletize on an empty pallet unless
the operator has pressed the “ Confirm pallet (s) ready” button. To obtain this behavior, the “ Confirm pallet (s) ready”
checkbox in the Installation tab must be ticked. Also, to allow cell access to the operator, a complete risk assessment must
be performed, and additional parameters must be set (which include, but are not limited to: robot speed, robot force, safety
planes, guardrails).
o
Separation monitoring mode: The system stops when a human operator enters the vicinity of the palletizing cell to
manipulate a filled pallet, place a pallet in an empty pallet slot, troubleshoot the system or any other operation requiring
human intervention. In such a state the robot will maintain a Category 2 stop. When the safeguards are removed, the system
resumes operation in Normal mode.
The system enters emergency stop mode when the emergency stop button ispressed.
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