Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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3.2 STOP CATEGORY
The safety function allows the robot to initiate three types of stop categories defined by IEC
60204-1.
Stop
Category Description
0
[STO]
Immediately, the robot is turned off and stopped.
* Joint brake wear & tear may occur, which may shorten the
lifespan of the robot. Do not use it unless it is unavoidable.
**Because the power of the robot is shut off, it is necessary
to restart it when using it again after removing the danger.
1
[SS1]
All joints of the robot are decelerated to the maximum and
stopped, and then the power is shut off to stop.
*Since the power of the robot is shut off, it is necessary to
restart it when using it again after removing the danger.
2
[SS2]
All the joints of the robot are decelerated to the maximum,
stop, and then enter the SOS state.
*SOS: Maintains the current position while the robot is
powered on and activated, and starts Stop Category 0 when a
position change is detected.
** Since the power is not shut off, it can be used immediately
after removing the danger.
Caution
Caution:
1) According to ISO10218-1 5.5.2 and 5.5.3, a suitable stop category for
emergency stop and protective stop should be selected.
2) For an emergency stop, you must select from stop category 0 or 1.
3) For an emergency stop, activation is required.
4) For a protection stop, at least one must be selected from stop categories 0 and 1.
5) For additional protection stops, stop category 2 can be used.