Rethink Robotics Sawyer, Оригинальное руководство пользователя, Страница: 183 / 220

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Intera 5.3
If an operator presses down on the E-stop button, the Banner Safety Controller signals the robot's I/
O Controller Interface that it has seen an E-stop. The Banner Safety Controller signals the motor
bus relays, which open, cutting the power.
The E-stop button locks in position, and must be physically rotated to release the button, which
ends the E-Stop condition. However, the robot is not allowed to power up again until the operator
resumes power to the robot arm, either using the navigator user interface on the robot, or via a
button connected to the software signal inputs on the Safety Controller. The motor bus relays
remain open until the Safety Controller receives the message that resumption of power has been
requested. At that point, power is returned to the arm, and servo’s become active and take over
holding the arm position. The mechanical brakes are then released. Note that there may be a noise
and slight motion when power is restored as the robot controller takes over holding the robot
stationary.
OPTIONAL SAFETY DEVICES
For differing levels of risk reduction, customers may add one or more safety-rated safeguarding
devices to create a monitored space in proximity to the robot.
For example, if a customer has an application where the robot must not move when a human is
required to approach within reach of the robot due to a hazard present in the work cell, and the
customer doesn't want to surround Sawyer with a safety cage, there are several other devices that
can be employed instead.
An optical sensor, like a laser scanner, usually placed at ankle height, senses people approaching,
and can act like an e-stop. When triggered, the device sends a signal to the Banner Safety
Controller, which triggers a category 0 stop.
Other devices in this category are light curtains and pressure-sensitive safety mats.
Support for Software Signals has been added for situations where the operator should leave the
work cell before resetting the robot. A three-button device positioned outside the safety space is
connected to the Banner Safety Controller by a cable. Its buttons are wired to correspond to the
software signals: Run From Here, Run From Start, and Re-Enable.
When the operator leaves the safety space and presses the Re-Enable button, for example, the
Banner Safety Controller receives that signal and closes the motor bus relays, making bus power
available to Sawyer's arm again. (This is the same effect as pressing OK on the Sawyer navigator to