Installation and Commissioning

Safety7 Safety Functions7.1 The safety control chain of operationThe safety control chain of operation is based on dual electrical safety chains whichinteract with the robot computer and enable the MOTORS ON mode.Each electrical safety chain consist of several switches connected in such a way that allof them must be closed before the robot can be set to MOTORS ON mode. MOTORSON 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 toMOTORS OFF mode. MOTORS OFF mode means that drive power is removed fromthe robot’s motors and the brakes are applied.K1K2DriveUnitMK1K2InterlockingEN RUN&&Man1Man2+ +TPU Auto1TPU Auto2LIM1 ES1LIM2 ES2En1En2GS1ExternalAS1GS2 AS2contactorsThe status of the switches is indicated by LEDs on top of the panel module in the controlcabinet 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 beforethe robot can be ordered to start again.The time limits for the central two channel cyclic supervisions of the safety controlchain is between 2 and 4 second.The safety chains must never be bypassed, modified or changed in any other way.6 Product Manual