Installation and Commissioning

SafetyCONTENTSPage1 General............................................................................................................................. 31.1 Introduction ........................................................................................................... 32 Applicable Safety Standards .......................................................................................... 33 Fire-Extinguishing........................................................................................................... 44 Definitions of Safety Functions ...................................................................................... 45 Safe Working Procedures ............................................................................................... 55.1 Normal operations ................................................................................................. 56 Programming, Testing and Servicing ............................................................................ 57 Safety Functions .............................................................................................................. 67.1 The safety control chain of operation.................................................................... 67.2 Emergency stops.................................................................................................... 77.3 Mode selection using the operating mode selector................................................ 77.4 Enabling device ..................................................................................................... 87.5 Hold-to-run control................................................................................................ 87.6 General Mode Safeguarded Stop (GS) connection................................................ 97.7 Automatic Mode Safeguarded Stop (AS) connection ........................................... 107.8 Limiting the working space ................................................................................... 107.9 Supplementary functions ....................................................................................... 108 Safety Risks Related to End Effectors........................................................................... 108.1 Gripper................................................................................................................... 108.2 Tools/workpieces ................................................................................................... 118.3 Pneumatic/hydraulic systems ................................................................................ 119 Risks during Operation Disturbances........................................................................... 1110 Risks during Installation and Service ......................................................................... 1111 Risks Associated with Live Electric Parts................................................................... 1212 Emergency Release of Mechanical Arm ..................................................................... 1313 Limitation of Liability................................................................................................... 1314 Related Information...................................................................................................... 13Product Manual 1