Universal Robots UR10/CB3, Руководство пользователя

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WARNING
1. An IMM is an extreamly dangerous machine. Read and understand the
manual for the IMM. Failure to integrate the robot and IMM in a safe way
might cause death, serious injury or damage to the machines. Universal
Robots cannot be held responsible for any damage caused by an IMM (E.g.
if a robot or person is damaged by movements of the mould).
2. When modifing an IMM a new risk assessment for the IMM shall be
conducted. The risk assessment shall consider all new hazards and to also
reconsider all existing hazards as they may have increased.
3. The integrator is responsible for complying with all national and regional
requirements for IMMs. This manual does not summarize any of these
requirements.
1.27. Robot and IMM integration
The following subsections contain important information for the integrator.
1.27.1. Emergency stop and safeguard stop
The emergency stop signals are shared between the robot and the IMM. This means that a robot
emergency stop also emergency stop the IMM and vice versa.
The safeguard stop signals (Safety devices
[ZA3-ZC3][ZA4-ZC4]
) ensure that the robot is
safeguard stopped when a door on the IMM is open.
WARNING
1. It is not a part of the EUROMAP 67 standard to stop the IMM if the robot is
safeguard stopped. This means that if the operator enters (walks into) the
workspace of the robot, he shall not be able to enter (or reach into) the
workspace of the IMM (Unless a safety device on the IMM causes a safe
stop of the IMM when the operator enters (or reaches into) the workspace
of the IMM). If a safety device shall safeguard stop both the robot and the
IMM, then connect it to the IMM.
2. If a third machine is connected to the robot through the special ,,external
emergency stop” input on the controller box [EEA-EEB], only the robot will
emergency stop if an emergency stop button is pushed on the third
machine,
not the IMM!
3. Always verify the functionality of all safety related functions. Look in the
manual for both the robot and the IMM regarding safety function
requirements.
User Manual 217 UR10
EUROMAP 67 Interface
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