Installation and Commissioning

System DescriptionSafety System5.4 Limitation of velocityTo program the robot, the operating mode switch must be turned to MANUALREDUCED SPEED position. Then the robot’s maximum velocity is limited to 250mm/s.5.5 ENABLEENABLE is a 24 V signal, generated in the supply unit. The signal is sent through therobot computer, to the panel unit.The errors that affect the Enable signal are:• In the supply unit; errors in the input voltage.• In the robot computer; errors in the diagnostics or servo control program.• In the drive unit; regulating errors and overcurrent.5.6 24 V supervisionIf the 24 V supply to the safety circuits drops out, the MOTORS ON contactors willdrop out, causing the motors to switch off.5.7 MonitoringMonitoring is carried out using both hardware and software, and comprises the externalpart of the safety circuits, including switches and operating contacts. The hardware andsoftware parts operate independently of each other.The following errors may be detected:All inputs from the safety circuits are linked to registers, which allows the robot computerto monitor the status. If an interrupt occurs in the circuit, the status can be read.If any of the switch functions are incorrectly adjusted, causing only one of the chainsof operation to be interrupted, the robot computer will detect this. By means of hardwareinterlocking it is not possible to enter MOTORS ON without correcting the cause.Product Manual 19