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1. Safety
1-7
1.5. Definition of Safety Functions
Emergency Stop Function - IEC 204-1,10,7
There is one emergency stop button on the controller and teaching pendant
respectively. If necessary, additional emergency buttons should be able to connected
to the robot's safety chain circuit. The emergency stop function, which overrides all
other robot controls, stops all moving parts by disconnecting power supply, and
removes drive power to prevent the use of other dangerous functions controlled by
the robot.
Safety Stop Function - ISO 10218(EN 775),6.4.3
When a safety stop circuit is provided, each robot must be delivered with the
necessary connections for the safeguards and interlocks associated with this circuit.
The robot should have a number of electrical input signals which can be used to
connect external safety devices, such as safety gates, safety pads, and safety lamps.
These signals allow the robot's safety functions to be activated by all equipment,
including peripheral equipment and the robot itself.
Speed Limiation Function - ISO 10218(EN 775),3.2.17
In a manual mode, the speed of robot is strictly limited to 250 mm per second as
maximum.
The speed limitation applies not only to the TCT(Tool Coordinate Time), but to all
parts of manual mode robot. The speed of equipment mounted on the robot should
be possibly monitored.
Restricting working Envelope - ANSI/RIA R15.06-1999
The working envelope of robot axes should be restricted using software limits.
Axis 1,2, and 3 can also be restricted by means of mechanical stopper.
Operation Mode Selection - ANSI/RIA R15.06-1999
The robot must be operated either manually or automatically. In a manual mode, the
robot must be operated only by using the teach pendant..