CS8C © Stäubli 2009 – D28070504A
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Chapter 3 - Safety
• For UL robots: When arm is powered-on, a light on the arm is on to indicate there is a potential danger. This light
is also on when manual brake release is performed (on axis 1 on RX and TX robots, on axis 3 on Scara robots).
• Do not connect or disconnect components while the unit is under power. The connection between the controller
and the robot arm can only be made if the controller has been switched off.
• Remove part or tool loaded on robot during maintenance operations.
• If unusual sounds or vibrations are noted on the robot arm, especially following a shock or some other incident,
it is necessary to inspect the tool and gripper fastenings carefully and make diagnoses at low speed.
Note:
If a crash of the arm occurs, all safety components involved in the safety have to be checked
carefully to verify they are still operating and not damaged: hard stop devices on the arm,
electrical limit switches, calibration of the robot. Don't hesitate to call Stäubli service for any
doubt.
Each time a calibration, adjustment or recovery procedure is done, the calibration of the arm has
to be controlled carefully to verify that the robot is able to move in its expected angular range and
not more. This verification has to be done at slow speed.
Figure 3.1
Following maintenance work, whether it involves mechanical, electrical, pneumatic or software operations, it is
advisable to make sure that the robot functions correctly, first at low speed while the person stays outside the cell,
and then under the normal conditions of use. In particular, make sure that all the protective and safety systems
are correctly in place, and that calibration of the robot is correct.
3.3.2. ROBOT CELL SAFETY DEVICES
The safety devices must form an integral part of the design and installation of the robot cell. Operator training and
compliance with the operating procedures constitute a major element in setting up the safety devices and systems.
Stäubli robots are equipped with various communication functions, helping the user to develop safety devices for
the robot cell. These functions include the emergency stop circuits, the digital Input/Output lines, and the display
system for error and warning messages (see the "Integration" chapter). When the system is used without the MCP,
these messages/warnings can only be consulted via the application program (see chapter 5).
DANGER:
All persons are prohibited from remaining in the isolation area in which the robot arm
operates. Certain robot working modes such as the "brake release" mode can lead to
unforeseeable arm movements.
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