CRS F3, User Manual

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16 F3 Robot Arm User Guide
99-05-31
Radius
minimum
= 710 mm [28 in] + Length
gripper
+ Length
payload
Emergency Stops (E-Stops)
An emergency stop (e-stop) button is a conspicuous, red, mushroom-shaped
button. When struck, it cuts off arm power. It must be manually reset.
E-stops are part of the controller’s single, continuous e-stop chain. Pressing
an e-stop breaks the chain, resulting in the immediate removal of arm
power. When arm power is removed, fail-safe brakes engage to prevent the
robot from moving due to gravity or inertia. The F3 robot has a category 0 e-
stop (as defined by the European standard EN 418). This is classed as an
uncontrolled stop, since power is immediately removed from the robot
motors and brakes are engaged on the main drive axes. As an added safety
measure, the control software is designed to decelerate the speed of the
motors to zero at a rate so as to minimize any resultant jerk.
Resetting the e-stop does not result in automatic actuation of arm power. A
separate action is required to re-initiate robot motion. In this case, the arm
power button must once again be pressed.
The C500C controller provides an e-stop input. Expanding the e-stop chain
allows you to stop the robot system by striking external e-stop buttons. The
C500C controller does not have an e-stop output. As a result, striking the e-
stop buttons on the controller or teach pendant will not stop other systems
in the workcell.