Installation and Commissioning

System DescriptionSafety System5 Safety SystemThe robot’s safety system is based on a two-channel safety circuit that is continuouslymonitored. If an error is detected, the power supply to the motors is switched off and thebrakes engage. To return the robot to MOTORS ON mode, the two identical chains ofswitches must be closed. As long as these two chains differ, the robot will remain in theMOTORS OFF mode.Figure 13 below illustrates an outline principal circuit with available customer contacts.LSSolid state switchesContactorESGSTPU En&2ndchaininterlockDriveunitASENRUNComputer commandsMAutoOperatingmode selectorManualLS = Limit switchAS = Automatic mode safeguarded space StopTPU En= Enabling device, teach pendant unitGS = General mode safeguarded space StopES = Emergency StopFigure 13 Outline diagram of one of the safety circuits.5.1 The chain of operationThe emergency stop buttons on the operator’s panel and on the teach pendant and externalemergency stop buttons are included in the two-channel chain of operation.A safeguarded stop, AUTO STOP, which is active in the AUTO operating mode, can beconnected by the user. In any of the MANUAL modes, the enabling device on the teachpendant overrides the AUTO STOP.The safeguarded stop GENERAL STOP is active in all operating modes and is connectedby the user.The aim of these safeguarded stop functions is to make the area around the manipulatorsafe while still being able to access it for maintenance and programming.Product Manual 17