Installation and Commissioning

Installation and CommissioningConnecting Signals3.12 Safeguarded space stop signalsAccording to the safety standard ISO/DIS 11161 “Industrial automation systems -safety of integrated manufacturing systems - Basic requirements”, there are two categoriesof safety stops, category 0 and category 1, see below:The category 0 stop is to be used when, for safety analysis purposes, the power supply tothe motors must be switched off immediately, such as when a light curtain, used to protectagainst entry into the work cell, is passed. This uncontrolled motion stop may require specialrestart routines if the programmed path changes as a result of the stop.Category 1 is to be preferred, if accepted for safety analysis purposes, such as whengates are used to protect against entry into the work cell. This controlled motion stoptakes place within the programmed path, which makes restarting easier.3.12.1 Delayed safeguarded space stopAll the robot’s safety stops are as default category 0 stops.Safety stops of category 1 can be obtained by activating the delayed safeguarded spacestop together with AS or GS. A delayed stop gives a smooth stop. The robot stops inthe same way as a normal program stop with no deviation from the programmed path.After approx. 1 second the power supply to the motors is shut off. The function is activatedby setting a parameter, see User’s Guide, section System Parameters, Topic:Controller.Note! To ensure MOTORS OFF status, the activating switch must be kept openfor more than one second. If the switch is closed within the delay, the robot stopsand will remain in MOTORS ON mode.3.13 Available voltage3.13.1 24 V I/O supplyThe robot has a 24 V supply available for external and internal use.This voltage is used in the robot for supplying the drive unit fans and the manipulatorbrakes.The 24 V I/O is not galvanically separated from the rest of the controller voltages.Technical dataVoltage24.0 - 26.4 VRippleMax. 0.2 VPermitted customer load Max. 6 A (7.5 A if DSQC 374)Current limit Max. 18 A (12 A if DSQC 374)Short-circuit current Max. 13 A (average value)(~ 0 A if DSQC 374)Product Manual IRB 1400 47