ABB CRB 15000, Product Manual, Page: 111 / 1096

3.5.4 Working closely with the robot in a safe way
Risk reduction when using the arm-side interface
A risk assessment must always be conducted when commissioning a robot or
robot application (see ISO 10218-2). Important steps in this process are:
• Determine the limits of the machine
• Identify hazards
• Estimate and evaluate risks
• Perform an adequate risk reduction.
When someone uses the arm-side interface (ASI), they must be standing close to
the manipulator. The risk assessment must therefore identify and address the
possibility of collisions with the operator. These can be either unconstrained or
constrained collisions, as explained below. Potential hazards to be addressed are
crushing, cutting, shearing and impact, amongst others.
The arm-side interface can be used in both manual and automatic modes.
• In manual reduced speed mode, risk reduction as required by ISO 10218-1
is used:
- 250 mm/s speed limit
- A three-position enabling device to permit motion
• In Automatic mode, the system integrator must perform an application-specific
risk assessment and risk reduction, resulting in a validated safety
configuration. Use of the arm-side interface requires such a safety
configuration.
Safety zones to implement speed and force limits can help to reduce the risks to
an acceptable level. Further information is provided below. Programming information
is provided in the RAPID manual for programming (
Technical reference
manual - RAPID Instructions, Functions and Data types ), while the configuration
and validation of a safety configuration is addressed in Application
manual - Functional safety and SafeMove . In some cases, constructional measures
may also be necessary to ensure that the application complies with ISO/TS 15066,
which provides the relevant biomechanical limits.
Unconstrained collisions
An unconstrained collision is one where the body part involved is not trapped.
Under these circumstances, only transient collisions are possible.
The risks from unconstrained collisions can be reduced by creating a zone to
implement Cartesian speed limits, set by the safety function
Tool Speed Supervision
(see Application manual - Functional safety and SafeMove ). Assistance with setting
the limits is provided by the supporting function Human Interaction Supervision .
Guidance and biomechanical limits are provided in ISO/TS 15066.
Constrained collisions
A constrained collision is one where the body part involved is trapped between
the robot and another fixed object, or two parts of the robot. Constrained collisions
can be either transient, if the robot can give way (at least partially), or quasi-static.
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Product manual - CRB 15000 111
3HAC077389-001 Revision: L
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3 Installation and commissioning
3.5.4 Working closely with the robot in a safe way