Safety Manual

18
More information on robot operating modes can be found in the
Technical Reference Manual.
Speed Limits
The robot’s tool centre point (TCP) can reach a maximum speed
of 1500 mm/second. For manual operations (humans nearby), it is
recommended that the TCP speed does not exceed 250 mm/s.
NOTE: All toolpaths are limited to a maximum TCP speed of 250
mm/s when the robot is in “teach” mode
Any safeguards (guards, interlocks, etc) that are disabled during
setup or maintenance must be restored to full functionality before
executing hazardous work.
Singularity Avoidance
Certain positions present a challenging mathematical problem to
the robot. These are called singularities.
Eva’s control system is designed to avoid these positions rather
than passing through them. This significantly reduces hazards from
unexpected behaviour, but also forces the robot to work unusually
hard in positions close to the singularities.
To prolong the robot’s life, it’s advisable to avoid difficult tasks in
positions where axes 1, 4 and 6 are working in parallel, or when axis 1
is co-linear (both parallel and aligned) with axis 4 or axis 6.