SafetyElectricalTroubleshooting GuideIRB6400 M94APage 1 - 51.2 Safety FeaturesSelection of Operating ModeThe robot can be operated either manually or automatically.In Manual mode, the robot can only be operated using theteach pendant, not by any external equipment.Reduced SpeedThe speed can be limited to a maximum of 250 mm/s. Aspeed limitation applies not only to the Tool Center Point(TCP), but to all parts of the robot. It is also possible tomonitor the speed of equipment mounted on the robot.Overspeed ProtectionThe speed of the robot is monitored by two independentcomputers.Emergency Stop (E-Stop)There is one emergency stop push button on the controlpanel, and another on the teach pendant. Additionalemergency stop buttons can be connected to the robot'ssafety chain circuit.Safeguarded Space StopThese include: Manual Stop, Auto Stop, General Stop, E-Stop, Limit Stop. The robot has a number of electricalinputs which can be used to connect external safetyequipment, such as safety gates and light curtains. Thisallows the robot's safety functions to be activated both byperipheral equipment and by the robot itself.Delayed Safeguarded Space StopSuch as a Hold circuit. A delayed stop gives a smooth stop.The robot stops in the same way as a normal program stopwith no deviation from programmed path. After 1-2 secondsthe power supplied to the motors shuts off.Restricting the Working SpaceThe movement of each of the axes 1-6 can be restrictedusing software limits. Axes 1-3 can also be restricted bymeans of an adjustable mechanical stop. Axis 1 & 2 can berestricted using an Electrical Limit switch.Enabling DeviceYou must use the Enabling Device on the Teach Pendantto start the motor before you can move the robot when inManual modes. The Enabling Device has a switch withthree positions, meaning that all robot movements stopwhen either the Enabling Device is pushed fully IN, or whenit is released completely. This makes the robot safer tooperate.Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
