ROKAE xMate ER7 - Emergency Stop; Safety Precautions; Operating Safety; Recovering from Emergency Stops

202208081959/V0.1
2 Safety
xMate ER7Hardware Installation Manual 7
2.4.1 Emergency stop
There are two types of stops for robots according to ISO 13850 and IEC 60204 safety
standards:
 STOP0: The motor power is switched off and brakes are engaged.
 STOP1: The robot comes to a controlled stop. Then the motor power is switched off
and brakes are engaged.
For the xMate ER7 robots, STOP0 is used for collision detection in the case of external
control with RCI and handheld emergency stop signal processing.
2.5 Safety precautions
2.5.1 Operating safety
2.5.1.1 General principles
A few simple principles should be followed in order to operate the robot safely:
 Always operate the robot in Manual mode if personnel are inside the safeguarded
space.
 Always bring the handheld emergency stop device along when you enter the
safeguarded space so that robot control is in your hands.
 Watch out for rotating or moving tools installed on the robot. Make sure those tools
are stopped before you approach the robot.
 Watch out for grippers and objects gripped. If the gripper is opened, the workpiece
could fall and cause personal injury or equipment damage. The gripper can be very
powerful and can also cause injuries if not operated in a safe manner.
2.5.2 Recovering from emergency stops
2.5.2.1 Instructions
In the case of an emergency stop, a reset is required to return to normal operation. The
reset is a simple but important procedure. It ensures that the robot system is not returned
to production in a hazardous condition.
2.5.2.2 Emergency stop button and reset
The emergency stop button is located on the handle of the handheld emergency stop and
enabling device. It has a latching feature that must be released in order to remove the
emergency stop condition of the device. This can be done by rotating the button as
marked.
2.5.3 Safety precautions in Manual mode
2.5.3.1 About the Manual mode
In Manual mode, the robot's movement is under manual control. You can only jog the
robot or execute a program when the enabling switch is held in the middle position.