ABB IRB 14000, Руководство по эксплуатации

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1.4.3 About the automatic mode
What is the automatic mode?
The automatic mode is used for running the robot program in production.
Active safeguard mechanisms
The safety stop mechanism and the Cartesian speed supervision are always active,
both while operating in manual and automatic mode.
Coping with process disturbances
Process disturbances may not only affect a specific manipulator cell but an entire
chain of systems even if the problem originates in a specific cell.
Extra care must be taken during such a disturbance since that chain of events may
create hazardous operations not seen when operating the single manipulator cell.
All remedial actions must be performed by personnel with good knowledge of the
entire production line, not only the malfunctioning manipulator.
Process disturbance examples
A manipulator picking components from a conveyer might be taken out of production
due to a mechanical malfunction, while the conveyer must remain running in order
to continue production in the rest of the production line. This means, of course,
that extra care must be taken by the personnel preparing the manipulator in close
proximity to the running conveyor.
A welding manipulator needs maintenance. Taking the welding manipulator out of
production also means that a work bench as well as a material handling manipulator
must be taken out of production to avoid personnel hazards.
Operating manual - IRB 14000 19
3HAC052986-001 Revision: E
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1 Safety
1.4.3 About the automatic mode