Safety Manual

13
If a performance level higher than PLc is deemed necessary for a
particular application, we recommend placing the contacts of a
safety relay or controller in-line with the robot’s supply to cut the
power in the event of an emergency. Care must be taken to ensure
that there is no confusion between the emergency stop circuit native
to the robot (rated to PLc) and the new emergency stop circuit that
has been placed in line with the supply (rated >PLc).
Under worst case conditions (i.e.maximum speed and payload),
Axis 1 could travel 12° over 0.25 seconds, Axis 2 could travel 44°
over 0.59 seconds, and Axis 3 could travel 35.4° over 0.57 seconds,
before a complete stop is achieved. It is recommended that tests to
determine the actual stopping time and distance are performed on
each use case, as these are likely to less than the worst case results
detailed in this manual.
Ensure that any hazards or faults that caused the stop have been
controlled or eliminated before disengaging the emergency stop
button and restarting the robot. Disengaging the emergency stop
will not restart motion until commanded to do so in Choreograph.
It’s never acceptable to operate the robot without a connected
emergency stop button.
It’s recommended to use the button supplied with the robot. This
must only be replaced with an appropriate emergency stop device,
conforming to IEC 60947-5-5. Never connect an emergency stop
device to any input other than the dedicated emergency stop input.
If the robot’s on-board diagnostics detects a fault during operation
it will immediately halt all movement, similar to an emergency
stop. However, this is not safety rated. Neither is this classified
as a category 0 stop, as power will remain present at the robot’s
actuators.