Installation and Commissioning

Safety7.7 Automatic Mode Safeguarded Stop (AS) connectionThe AS connection is provided for interlocking external safety devices, such as lightcurtains, light beams or sensitive mats used externally by the system builder. The ASis especially intended for use in automatic mode, during normal program execution.The AS is by-passed when the operating mode selector is in the MANUAL orMANUAL FULL SPEED position.7.8 Limiting the working spaceFor certain applications, movement about the robot’s main axes must be limited inorder to create a sufficiently large safety zone. This will reduce the risk of damage tothe robot if it collides with external safety arrangements, such as barriers, etc.Movement about axes 1, 2 and 3 can be limited with adjustable mechanical stops or bymeans of electrical limit switches. If the working space is limited by means of stops orswitches, the corresponding software limitation parameters must also be changed. Ifnecessary, movement of the three wrist axes can also be limited by the computer software.Limitation of movement of the axes must be carried out by the user.7.9 Supplementary functionsFunctions via specific digital inputs:• A stop can be activated via a connection with a digital input. Digital inputs can be usedto stop programs if, for example, a fault occurs in the peripheral equipment.Functions via specific digital outputs:• Error – indicates a fault in the robot system.• Cycle_on – indicates that the robot is executing a program.• MotOnState/MotOffState – indicates that the robot is in MOTORS ON / MOTORSOFF mode.• EmStop - indicates that the robot is in emergency stop state.• AutoOn - indicates that the robot is in automatic mode.8 Safety Risks Related to End Effectors8.1 GripperIf a gripper is used to hold a workpiece, inadvertent loosening of the workpiece mustbe prevented.10 Product Manual