All rights reserved 142 Service Manual e-Series (EN) 1.1.8
Ignoring protective stops is considered abuse of the robot which voids the warranty.
These faults can be hidden from view under the following two circumstances:
1) Personnel simply resetting a fault without review of why the fault has happened.
Protective stops must never be acknowledged and reset automatically, it must
always be a deliberate action by a user to resume after a protective stop.
In general, protective stops are designed to inform the user that the robot has
stopped due to an external event such as hitting an obstacle or similar. In case the
robots are pushed close to the limits, the robots can generate protective stops to
indicate that they are not capable of following the desired trajectory. After a
protective stop, the following must be done before resuming operation:
i. If there has been a collision or similar:
Remove the obstacle and ensure that operators are out of the way before
resuming operation. See Section 2 of Service Manual (see link below).
ii. If there has been NO collision or similar:
The robot is operating too close to the limits, the application should be
adjusted to reduce the load on the robot, for instance by reducing
accelerations, by correct use of blends or similar measures.
Protective stops are indications of issues, including program or production issues
– not only safety issues. An application which results in daily protective stops is
not designed correctly and needs to be modified.
2) If an automatic acknowledgement and reset of a protective stop has been
programmed – no one will see the protective stop.
WARNING:
Automatic acknowledgement and reset of protective stops
masks faults that will lead to a failure condition.
When there is a protective stop, verify the cause.
If there has been no collision, then adjust the program
If an integrator has set-up the application program to do automatic acknowledgement
and reset of protective stops, the customer should contact the integrator change the
program immediately, as such override voids the product warranty and masks fault
detection.
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