CRS F3, User Manual

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Chapter 3: Safety Precautions 15
99-05-31
Safeguards and Safety Measures in Workcell Design
Safeguards may include, but are not limited to, fixed barriers, interlock
barriers, perimeter guarding, awareness barriers, and awareness signals.
Incorporate safety measures into your work cell design to reduce the risk of
hazard. The following list represents baseline measures which should be
taken:
•
Train all personnel to keep out of the workcell when the robot arm power
light is on.
•
Follow the instructions for installation and operation in this manual.
•
Use a diverse and redundant set of safety measures including those
recommended herein to provide an adequate level of safety.
•
Design the measures so that the activation of one safety measure against
a hazard does not create a new hazard elsewhere.
•
Install barriers outside the total radius of the robot arm, gripper and
payload.
Danger! Never enter or obstruct the workspace while the robot is in use. The
robot arm is capable of fast movement without warning. Install safeguards to prohibit
access to the workspace when the robot is in use.
Physical Barriers
Physical barriers inhibit or prohibit access to the arm’s workspace.
Install barriers:
•
beyond the total limit of the arm’s possible workspace, even if your robot
arm is programmed for only a portion of the total possible workspace.
•
with sufficient clearance between the barriers and the total robot
workspace (arm, gripper, and payload) to avoid trapping or crushing any
object.
Radius
minimum
= 710 mm [28 in] + Length
gripper
+ Length
payload