Installation and Commissioning

Safety• The supplier of the complete system must ensure that all circuits used in the emergencystop function are interlocked in a safe manner, in accordance with the applicablestandards for the emergency stop function.• Emergency stop buttons must be positioned in easily accessible places so that therobot can be stopped quickly.• Safety zones, which have to be crossed before admittance, must be set up in front ofthe robot’s working space. Light beams or sensitive mats are suitable devices.• Turntables or the like should be used to keep the operator away from the robot’s workingspace.• Those in charge of operations must make sure that safety instructions are available forthe installation in question.• Those who install the robot must have the appropriate training for the robot system inquestion and in any safety matters associated with it.Although troubleshooting may, on occasion, have to be carried out while the powersupply is turned on, the robot must be turned off (by setting the mains switch to OFF)when repairing faults, disconnecting electric leads and disconnecting or connectingunits.Even if the power supply for the robot is turned off, you can still injure yourself.• The axes are affected by the force of gravity when the brakes are released. In additionto the risk of being hit by moving robot parts, you run the risk of being crushed by thetie rod.• Energy, stored in the robot for the purpose of counterbalancing certain axes, may bereleased if the robot, or parts thereof, is dismantled.• When dismantling/assembling mechanical units, watch out for falling objects.• Be aware of stored energy (DC link) and hot parts in the controller.• Units inside the controller, e.g. I/O modules, can be supplied with external power.11 Risks Associated with Live Electric PartsControllerA danger of high voltage is associated with the following parts:- The mains supply/mains switch- The power unit- The power supply unit for the computer system (55 V AC)- The rectifier unit (260 V AC and 370 V DC. NB: Capacitors!)- The drive unit (370 V DC)- The service outlets (115/230 VAC)- The power supply unit for tools, or special power supply units for the machiningprocess12 Product Manual