Installation and Commissioning

Safety7.2 Emergency stopsAn emergency stop should be activated if there is a danger to people or equipment.Built-in emergency stop buttons are located on the operator’s panel of the robot controllerand on the teach pendant.External emergency stop devices (buttons, etc.) can be connected to the safety chainby the user (see Product Manual/Installation). They must be connected in accordancewith the applicable standards for emergency stop circuits.Before commissioning the robot, all emergency stop buttons or other safety equipmentmust be checked by the user to ensure their proper operation.Before switching to MOTORS ON mode again, establish the reason for the stopand rectify the fault.7.3 Mode selection using the operating mode selectorThe applicable safety requirements for using robots, laid down in accordance withISO/DIS 10218, are characterised by different modes, selected by means of controldevices and with clear-cut positions.One automatic and two manual modes are available:Manual mode:< 250 mm/s - max. speed is 250mm/s100% - full speedAutomatic mode: The robot can be operated via a remote control deviceThe manual mode, < 250 mm/s or 100%, must be selected whenever anyone enters therobot’s safeguarded space. The robot must be operated using the teach pendant and, if100% is selected, using Hold-to-run control.In automatic mode, the operating mode selector is switched to , and all safetyarrangements, such as doors, gates, light curtains, light beams and sensitive mats, etc.,are active. No-one may enter the robot’s safeguarded space. All controls, such as emergencystops, the control panel and control cabinet, must be easily accessible from outsidethe safeguarded space.Programming and testing at reduced speedRobot movements at reduced speed can be carried out as follows:• Set the operating mode selector to