17 Robot and IMM integration
The following subsections contain important information for the integrator.
17.1 Emergency stop and safeguard stop
The emergency stop signals are shared between the robot and the IMM. This means
that a robot emergency stop also emergency stop the IMM and vice versa.
The safeguard stop signals (Safety devices [ZA3-ZC3][ZA4-ZC4]) ensure that the
robot is safeguard stopped when a door on the IMM is open.
DANGER:
1. It is not a part of the EUROMAP 67 standard to stop the
IMM if the robot is safeguard stopped. This means that if
the operator enters (walks into) the workspace of the robot,
he shall not be able to enter (or reach into) the workspace of
the IMM (Unless a safety device on the IMM causes a safe
stop of the IMM when the operator enters (or reaches into)
the workspace of the IMM). If a safety device shall safeguard
stop both the robot and the IMM, then connect it to the IMM.
2. If a third machine is connected to the robot through the spe-
cial “external emergency stop” input on the controller box
[EEA-EEB], only the robot will emergency stop if an emer-
gency stop button is pushed on the third machine, not the
IMM!
3. Always verify the functionality of all safety related functions.
Look in the manual for both the robot and the IMM regarding
safety function requirements.
17.2 Connecting a MAF light guard
The MAF signal [A3-C3] in the EUROMAP 67 cable enables the powerful move-
ment of the mould. Care must be taken to prevent the mould from closing when
the robot is inside the machine.
The EUROMAP 67 interface is supplied without a MAF light guard. This means
that an error in the robot program could cause the IMM mould to close and crush
the robot. However, it is possible to connect a light guard as shown below to pre-
vent these accidents. A Category
1
1 light curtain can be purchased for a few hun-
dred USD (e.g. “PSEN op 2H-s/1” from Pilz).
1
According to ISO 13849-1, see Glossary for more details.
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
III-7 CB3
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