Product manual

Safety
6 Product Manual
7 Safety Functions
7.1 The safety control chain of operation
The safety control chain of operation is based on dual electrical safety chains which
interact with the robot computer and enable the MOTORS ON mode.
Each electrical safety chain consist of several switches connected in such a way that all
of them must be closed before the robot can be set to MOTORS ON mode. MOTORS
ON mode means that drive power is supplied to the motors.
If any contact in the safety chain of operation is open, the robot always reverts to
MOTORS OFF mode. MOTORS OFF mode means that drive power is removed from
the robot’s motors and the brakes are applied.
The status of the switches is indicated by LEDs on top of the panel module in the con-
trol cabinet and is also displayed on the teach pendant (I/O window).
After a stop, the switch must be reset at the unit which caused the stop before
the robot can be ordered to start again.
The time limits for the central two channel cyclic supervisions of the safety control
chain is between 2 and 4 second.
The safety chains must never be bypassed, modified or changed in any other way.
&
&
Interlocking
EN RUN
Drive
Unit
M
K1
K2
LIM1
LIM2 ES2
ES1
GS1 GS2
AS2
AS1
TPU
En1
TPU
En2
Man2
Man1
Auto1
Auto2
K1 K2
+
+
External
contactors