GENERAL SAFETY REQUIREMENTS
13
Comau Robotics Product Instruction
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Connect the Robot to the ground through the Control Unit or specific terminals,
according to the prearrangements present on Robot and/or Control Unit.
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Where provided, check that the Control Unit door/s is/are closed with the
appropriate key.
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A wrong connection of the connectors may cause permanent damage to the
Control Unit components.
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The Control Unit manages internally the main safety interlocks (gates, enabling
push-buttons, etc.). Connect the Control Unit safety interlocks to the line safety
circuits, taking care to connect them as required by the Safety Standards. The
safety of the interlock signals coming from the transfer line (emergency stop, safety
fences etc.), i.e. the making of correct and safe circuits, is the responsibility of the
Robot and Control System integrator.
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The safety of the system cannot be guaranteed in case of interlocks erroneous,
incomplete or missing execution.
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The Robot stop in AUTO/REMOTE mode is set in a controlled way (IEC 60204-1,
stop of category 1); it is also possible to set the stop in category 0 by changing the
related setting within the control logic of the Control Unit safety aspects.
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When preparing protection barriers, especially light curtains and access doors,
take into consideration the Robot stopping times and distances according to the
stop category (0 or 1) and the weight of the Robot.
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Check that the environmental and operating conditions do not exceed the limits
specified in the specific Instruction Handbooks.
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The calibration operations must be carried out with utmost attention, as indicated
in the Instruction Handbooks of the specific product, and must be concluded by
checking the correct position of the machine.
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To load or update the system software (for example after boards replacing), use
only the original software handed over by COMAU. Scrupulously follow the system
software loading procedure described in the Instruction Handbooks supplied with
the specific product. After loading, always make some Robot motion tests at low
speed remaining outside the protected area.
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Check that the barriers of the protected area are correctly positioned.
In the cell/line emergency stop circuit it is necessary to include the contacts of the
emergency stop push-buttons of the Control Unit, available on the appropriate
connector (for details, refer to the electrical circuit diagrams and the specific Instruction
Handbooks according to the Unit Control model). The push-buttons are not interlocked
inside the emergency stop circuit of the Control Unit.
Setting the stop in category 0 can result in mechanical damages to the tools and loss of
load if they are not properly designed.
The stop circuit timer is normally set to 1.5 seconds. This parameter can be changed if
heavy-duty implements (e.g. rotary tables, positioners, etc.) are matched with the Robot.
The stop circuit timer can be modified by changing its setting within the control logic of
the Control Unit safety aspects. For further details, refer to the paragraph “Safety stop
circuit timer” in the Control Unit Instruction Handbooks.
