CRS F3, User Manual

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Chapter 3: Safety Precautions 17
99-05-31
Example of typical barriers and remote E-Stops
.
Pressing an e-stop does not turn off power to the controller. Processes that
are running on the controller continue to run, except for those (without
structured exception handling or other error checking) requiring robot
motion, which will terminate when arm power is removed.
The e-stop circuit is connected to the:
•
E-stop button on the front panel of the controller.
•
E-stop button on the front of the teach pendant.
•
Live-man switch on the teach pendant.
To ensure safety, you can install other e-stop buttons:
•
At or near the robot arm location.
•
Within human reach of any approachable side of the robot arm work cell.
Design your workcell so that:
•
All e-stop buttons are unobstructed.
•
Personnel can reach and activate each e-stop button without difficulty.
•
All e-stop buttons are outside the total safeguarded space of the robot
arm, its gripper, and any payload.
Presence Sensing Interlocks
Install a presence-sensing safety interlock at any point of access through a
barrier into the robot workcell. Design the interlock as part of the robot
e-stop circuit. For example, a door-mounted contact switch connected to the
e-stop circuit stops the arm when the door is opened and the contact is
broken, and permits arm operation when the door is closed and contact is
restored.