Rethink Robotics Sawyer, Оригинальное руководство пользователя, Страница: 184 / 220

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Intera 5.3
recover from triggering E-stop.) The operator also has the option of running the task from the
beginning or from where the robot left off.
This safety configuration creates a fully safeguarded work cell: the robot cannot run if someone is in
the robot work space; and the robot can be safely restarted by someone outside the work space.
There are situations where an operator needs to be close to the robot to restart it. For example, the
operator may need to restart the flow of power to the arm to be able to reposition it before leaving
the work space. Or the operator may need power in order to take a part that was still in the robot's
gripper when the power was cut. That requires overriding the outputs of triggered safety devices
like the safety mat or optical sensor.
In these instances, a handheld Enabling Device is connected to the Banner Safety Controller. The
Enabling Device is a three-position switch, sometimes called a "live man switch."
This positions are:
•
not pressed
•
half-pressed (center position)
•
pressed (panic position)
When not pressed or pressed, the output voltage is 0 VDC: no power flows to the robot. When half-
pressed, the output voltage is 24 VDC and the other safety measures are bypassed. In other words,
the operator is controlling his/her own safety. If something unexpected happens with the robot, the
operator presses the device or drops it, and power to the robot is cut.
Note that when pressed all the way (panic position), the device needs to be released completely in
order to be reset.
Access Switch - If Sawyer is housed in a cage or behind a door whose lock is wired to the Banner
Safety Controller, the owner of the key has access and will be able to override the other safety
devices. When the door is unlocked and the owner of the key enters the work area, the robot is
stopped.
STOPPING DISTANCE
The stopping distance of the robot is dependent upon several factors including the application for
which it is being used, the load the robot is carrying, etc. Customers should study the behavior of
the robot under application-specific working conditions to determine stopping distance.