ABB IRB 14000, Руководство по эксплуатации продукта

Страница: 20 / 458

1.2.3 Safety in collaborative operation
General
IRB 14000 is intended for collaborative applications where contact between robot
and the operator is harmless. The robot is designed to comply with ISO 10218-1,
§5.10.5. Power and force limiting by inherent design or control. This is achieved
by inherent design measures in the robot arm and control system.
Sensitive body parts must be protected by personal protective equipment (PPE) ,
and particular care must be taken when designing end effectors and work pieces.
Details are given in the following sections.
1
Mechanical design measures
The power and force of the robot is limited mechanically by:
• Light weight
• Low payload (500 gram)
• Weak drivetrain that can be stopped and overridden by hand
• Soft and round outer shell (Regular inspection of the outer shell is required.
See
Inspecting, plastic and padding on page 119 )
• No sharp edges or pinch points
Certified safety functions
The following safety functions are inherent design measures in the control system,
contributing to power and force limiting. They are certified to category B,
performance level b, according to EN ISO 13849-1.
Description Safety function
The Cartesian speed of the elbow (arm check point, ACP) and
the wrist (wrist center point, WCP) are supervised. If a limit is
exceeded, the robot motion is stopped and a message dis-
played to the user. The default speed limit can be modified
based on the risk assessment of the robot installation. Cartesian speed supervi-
sion
The function is active in both manual and automatic mode. The
speed limits are set by system parameters. See
Operating
manual - IRB 14000 .
The controller has an electrical input which can be accessed
in external devices mode to stop the robot, e.g. from a safety
PLC. The protective stop function removes power from the
actuators, and is a Category 0 stop, according to ISO 13850. Protective stop (safety
stop)
In standalone mode, the FlexPendant emergency stop button
is routed to this input, and utilizes the safety function to stop
the robot.
Personal protective equipment
There are particularly sensitive body parts, such as the eyes and the larynx, that
need personal protective equipment, see ISO/TS15066 (currently under preparation).
1
See also technote_150918
Continues on next page
20 Product manual - IRB 14000
3HAC052983-001 Revision: D
© Copyright 2015 - 2016 ABB. All rights reserved.
1 Safety
1.2.3 Safety in collaborative operation