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4 Robot operating modes

4.1 About the manual mode

The manual mode

Manual mode is a control state that allows for the direct control by an operator.
The operator will through positioning the three-position enabling switch to the
center-position allow for movement of the manipulator.

There are two manual modes:

•

Manual reduced speed mode

•

Manual high speed mode (optional)

Safeguard mechanisms

•

Protective stops through

-

Three-position enabling switch

-

General Stop, GS

Deviations are listed in the product manual for the controller.

Safety manual for robot - Manipulator and IRC5 or OmniCore controller

17

3HAC031045-001 Revision: R

© Copyright 2008-2021 ABB. All rights reserved.

4 Robot operating modes

4.1 About the manual mode

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Содержание IRC5

Страница 1: ...ROBOTICS Safety manual for robot Manipulator and IRC5 or OmniCore controller ...

Страница 2: ...Trace back information Workspace 21A version a10 Checked in 2021 03 16 Skribenta version 5 4 005 ...

Страница 3: ...y manual for robot Manipulator and IRC5 or OmniCore controller IRC5 OmniCore Document ID 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved Specifications subject to change without notice ...

Страница 4: ...ty by ABB for losses damage to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained f...

Страница 5: ...16 3 3 Enabling device and hold to run functionality 17 4 Robot operating modes 17 4 1 About the manual mode 18 4 2 About the automatic mode 19 5 Installation and commissioning 23 6 Operation 25 7 Maintenance and repair 25 7 1 Maintenance and repair 28 7 2 Emergency release of the robot axes 29 8 Troubleshooting 31 9 Decommissioning 33 Index Safety manual for robot Manipulator and IRC5 or OmniCore...

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Страница 7: ...al for the robot controller Product manual for the manipulator Operating manual for the robot Revisions Description Revision First revision Changes corrections are made for the IRC5 controller A Changes corrections are made for the IRC5 controller B Changes corrections are made for the IRC5 controller C Minor corrections D Minor corrections E Minor corrections F Added information about batteries G...

Страница 8: ... content in the manual is restructured P Release 20B Added warning regarding unexpected movement of robot arm to con cerned chapters Q Release 21A R Minor corrections 8 Safety manual for robot Manipulator and IRC5 or OmniCore controller 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved Overview of this manual Continued ...

Страница 9: ...ty devices are defective not in their intended location or in any other way not working When instructions for operation and maintenance are not followed Non authorized design modifications of the robot Repairs on the robot and its spare parts carried out by in experienced or non qualified personnel Foreign objects Force majeure Spare parts and equipment ABB supplies original spare parts and equipm...

Страница 10: ... other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the robot and on responding to emergency or abnormal situations Personal protective equipment Use personal protective equipment as stated in the product manual 10 Safety manual for robot Manipulator and IRC5 or OmniCore controller 3HAC0...

Страница 11: ...ed will result in ser ious injury DANGER Signal word used to indicate a potentially hazardous situation which if not avoided could result in serious injury WARNING Signal word used to indicate a potentially hazardous situation related to electrical hazards which if not avoided could result in serious injury ELECTRICAL SHOCK Signal word used to indicate a potentially hazardous situation which if no...

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Страница 13: ... when the stop is achieved Stop category 1 As defined in IEC 60204 1 a controlled stop with power remain ing available to the machine actuators Stop category 2 Only available for certain manipulators with OmniCore see the product manual for the manipulator Safety inputs to initiate a protective stop or an emergency stop Protective stop and emergency stop inputs will initiate a stop selectable of c...

Страница 14: ...automatic mode is not released Note For IRC5 a safety input on the panel board that is initiated must remain active for at least 1 5 s Note For OmniCore a safety input that is initiated must remain active for at least 100 ms The stop category configuration is detailed in the product manual for the controller 14 Safety manual for robot Manipulator and IRC5 or OmniCore controller 3HAC031045 001 Revi...

Страница 15: ...ffect of an activated emergency stop device is sustained until the actuator of the emergency stop device has been disengaged This disengagement is only possible by an intentional human action on the device where the command has been initiated The disengagement of the device shall not restart the machinery but only permit restarting After actuation and before disengaging the emergency stop device t...

Страница 16: ...st never be rendered inoperational in any way If there is a need to enter safeguarded space always bring the three position enabling device This is to enforce single point of control Hold to run function in manual full speed mode The hold to run function for manual full speed allows movement in conjunction with the three position enabling device when the button connected to the function is actuate...

Страница 17: ...vement of the manipulator There are two manual modes Manual reduced speed mode Manual high speed mode optional Safeguard mechanisms Protective stops through Three position enabling switch General Stop GS Deviations are listed in the product manual for the controller Safety manual for robot Manipulator and IRC5 or OmniCore controller 17 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights r...

Страница 18: ...rol by an operator Safeguard mechanisms Protective stop through Automatic Stop AS General Stop GS Superior Stop SS not available for OmniCore Deviations are listed in the product manual for the controller 18 Safety manual for robot Manipulator and IRC5 or OmniCore controller 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved 4 Robot operating modes 4 2 About the automatic mode ...

Страница 19: ...maximum speed The maximum possible impact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot The maximum TCP speed and the maximum velocity of the robot axes are detailed in the section Robot motion in the product specification for the respective manipulator Consider exposure to hazards such as slipping tripping and falling Hazards due to the working position ...

Страница 20: ... people working with the robot system are designed and installed correctly When integrating the robot with external devices to a robot system The integrator of the robot system must ensure that emergency stop functions are interlocked in accordance with applicable standards The integrator of the robot system must ensure that safety functions are interlocked in accordance with applicable standards ...

Страница 21: ... manipulator Verify the safety functions Before the robot system is put into operation verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level Safety manual for robot Manipulator and IRC5 or OmniCore controller 21 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved 5 Installatio...

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Страница 23: ...th safety actuators that are not connected to the robot or robot system must be stored out of reach and sight so that they cannot be mistaken for being connected Unexpected movement of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause se...

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Страница 25: ...urfaces can be hot after running the robot Touching the surfaces may result in burns Allow the parts to cool down before maintenance or repair Allergic reaction Elimination Action Description Warning Make sure that protective gear like goggles and gloves are al ways worn When working with lubricants there is a risk of an allergic reac tion Allergic reaction Gearbox lubricants oil or grease When ha...

Страница 26: ...as previously been drained from the gearbox Specified amount de pends on drained volume For lifetime reasons always drain as much oil as possible from the gearbox The magnetic oil plugs will gather residual metal chips Contaminated oil in gearboxes Hazards related to batteries Under rated conditions the electrode materials and liquid electrolyte in the batteries are sealed and not exposed to the o...

Страница 27: ...vement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Related information See also the safety information related to installation and operation Safety manual for robot Manipulator and IRC5 or OmniCore controller 27 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved 7 Maintenance and repair 7 1 Maintenance and repair Continued ...

Страница 28: ...ction Manually releasing the brakes in the product manual for the manipulator The robot may be moved manually on smaller robot models but larger models may require using an overhead crane or similar equipment 28 Safety manual for robot Manipulator and IRC5 or OmniCore controller 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved 7 Maintenance and repair 7 2 Emergency release of ...

Страница 29: ...assessment must be done to address both robot and robot system specific hazards WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Related information See also the safety information related to ins...

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Страница 31: ...se devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Safety manual for robot Manipulator and IRC5 or OmniCore controller 31 3HAC031045 001 Revision R Copyright 2008 2021 ABB All rights reserved 9 Decommissioning ...

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Страница 33: ...s 9 P pedestal installed on pedestal 19 personnel requirements 10 PPE 10 protective equipment 10 protective stop definition 13 protective wear 10 R regional regulations 19 release brakes 28 responsibility and validity 9 risk of burns 25 S safeguarding 13 safeguard mechanisms automatic mode 18 manual mode 17 safety emergency stop 13 fire extinguishing 20 release robot axes 28 signals 11 signals in ...

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Страница 36: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC031045 001 Rev R en Copyright 2008 2021 ABB All rights reserved Specifications subject to change without notice ...

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