Han's Robot Elfin Series, Установка оборудования, Страница: 16 / 45

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1.5 Emergency handling
Emergency stop device
Pressing the emergency stop button will stop all movement of the
robot. Emergency shutdown cannot be used as a risk reduction measure,
but it can be used as a secondary protection device. If multiple emergency
stop buttons must be connected, they must be included in the risk
assessment of the robot application. The emergency stop button meets the
requirements of IEC 60947‐5‐5.
Elfin series robots are equipped with an emergency stop button on the
control cabinet and the teach pendant. This button must be pressed in a
dangerous or emergency situation, as shown in the following figure. The
control cabinet is equipped with an external emergency stop button port,
which can be used by integrators or users according to the actual situation.
Tools or equipment connected to the terminal must be integrated into
the emergency stop circuit of the system if they pose a potential threat.
Failure to observe this warning may result in death, serious personal injury,
or significant property damage.
Recovery from emergency
All emergency stop devices in the form of keys have a "lock" function.
This "lock" must be opened to end the emergency stop state of the device.
Turn the emergency stop button to open the "lock".
Recovering from the emergency stop state is a simple but very
important step, this step can only be operated after ensuring that the
danger of the robot system is completely eliminated.
Force emergency movement of joints
In rare cases, it may be necessary to move one or more robot joints in
an emergency situation where the power supply of the robot fails or does
not want to use the power supply. This can be forced by the following
methods
：
Forced reverse drive: force (at least 500N) to push or
pull the robot arm to force the joint to move。