Yamaha RCX222, Руководство пользователя

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Chapter
4
OPERA
TION
8. "SERVICE" mode
8.4 Limits on robot moving speed
Robot operation from within the safety enclosure of the robot system is mainly for
teaching and maintenance for the robot.
Therefore, robot moving speed in SERVICE mode is limited to 3% of the maximum speed
so that the robot will move at a speed no faster than 250mm/sec.
This speed limiting function is a general function and is not a safety-related function
defined by ISO13849-1. In other words, this function does not meet the PL (performance
level) indicating the safety-related performance level.
To lower the risk of collision between the robot and workers, the user must install
necessary protective measures such as enable switches based on the user’s risk
assessment.
If the robot moving speed must be set higher than 3% of the maximum speed to check the
robot operation within the safety enclosure, then the user can cancel the speed limiting
function only in cases where judged not hazardous.