Product manual

Technical specification
Product Specification IRB 6400R M99/BaseWare OS 3.2 21
3.2 Safety/Standards
The robot conforms to the following standards:
EN 292-1 Safety of machinery, terminology
EN 292-2 Safety of machinery, technical specifications
EN 954-1 Safety of machinery, safety related parts of control
systems
EN 60204
1
Electrical equipment of industrial machines
IEC 204-1 Electrical equipment of industrial machines
ISO 10218, EN 775 Manipulating industrial robots, safety
ANSI/RIA 15.06/1992 Industrial robots, safety requirements
ISO 9409-1 Manipulating industrial robots, mechanical
interface
ISO 9787 Manipulating industrial robots, coordinate systems
and motions
IEC 529 Degrees of protection provided by enclosures
EN 50081-2 EMC, Generic emission
EN 50082-2 EMC, Generic immunity
ANSI/UL 1740-1996 (option) Standard for Industrial Robots and Robotic
Equipment
CAN/CSA Z 434-94 (option) Industrial Robots and Robot Systems - General
Safety Requirements
Safeguarded space stops via inputs
External safety equipment can be connected to the robot’s two-channel emergency stop
chain in several different ways (see Figure 12).
Figure 12 All safeguarded space stops force the robot’s motors to the MOTORS OFF state.
A time delay can be used on the emergency stops or any safeguarded space stops.
1. There is a deviation from the extra demand for only electromechanical components on emergency stop of
category 0 in paragraph 9.2.5.4. EN 60204-1 accepts one channel circuit without monitoring, instead the
design is made to comply with category 3 according to EN 954-1, where the demand for redundancy is
founded.
<250 mm/s
100%
Emergency stop
Auto mode
General mode
Operating mode selector
M
~
safeguarded space stop
safeguarded space stop
Teach pendant
External emergency stop
Note! Manual mode 100% is an option
Enabling device