ABB IRC5 with FlexPendant, Operating Manual

Page: 26 / 306

1.4.2 Safety tools
Safeguarding mechanisms
Your robot system can be equipped with a vast range of safeguards such as door
interlocks, safety light curtains, safety mats, and others. The most common is the
door interlock of the robot cell that temporarily stops the robot if you open it.
IRC5
The IRC5 controller has three separate safeguarding mechanisms, the general
mode safeguarded stop (GS), the automatic mode safeguarded stop (AS) and the
superior safeguarded stop (SS).
are... Safeguards connected to...
always active regardless of the operating mode. the GS mechanism
only active when the system is in automatic mode. the AS mechanism
always active regardless of the operating mode. the SS mechanism
See your plant or cell documentation to see how your robot system is configured
and where the safeguarding mechanisms are placed and how they work.
Safety supervision
The emergency stop and safeguarding mechanisms are supervised so that any
failure is detected by the controller and the robot is stopped until the problem is
solved.
Built-in stop functions
The controller continuously monitor hardware and software functionality. If any
problems or errors are detected the robot is stopped until the problem has been
solved.
then... If the failure is...
a simple program stop is issued (SYSSTOP). simple and can easily be solved
a SYSHALT is issued which results in a protective
stop. minor and can be solved
a SYSFAIL is issued which results in an emergency
stop. The controller must be restarted in order to
return to normal operation. major, for instance concerns broken
hardware
Restricting the robot's working range
The robot's working range can be restricted by means of mechanical stops or
software functions, or by a combination of both.
See your plant or cell documentation to see how your robot system is configured.
26 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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1 Safety
1.4.2 Safety tools