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1 Safety, service
1.2.6 Risks associated with live electric parts
1.2.6 Risks associated with live electric parts
Voltage related
risks, general
Voltage related
A danger of high voltage is associated with the following parts:
risks, controller
Voltage related
A danger of high voltage is associated with the manipulator in:
risks, manipu-
lator
Voltage related
Tools, material handling devices, etc., may be live even if the robot system is in the OFF
risks, tools,
position. Power supply cables which are in motion during the working process may be dam-
material handling
aged.
devices, etc
22
•
Although troubleshooting may, on occasion, have to be carried out while the power
supply is turned on, the robot must be turned off (by setting the mains switch to OFF)
when repairing faults, disconnecting electric leads and disconnecting or connecting
units.
•
The mains supply to the robot must be connected in such a way that it can be turned
off outside the robot's working space.
•
Be aware of stored electrical energy (DC link) in the controller.
•
Units inside the controller, e.g. I/O modules, can be supplied with power from an exter-
nal source.
•
The mains supply/mains switch
•
The power unit
•
The power supply unit for the computer system (230 VAC)
•
The rectifier unit (400-480 VAC and 700 VDC. Note: Capacitors!)
•
The drive unit (700 VDC)
•
The service outlets (115/230 VAC)
•
The power supply unit for tools, or special power supply units for the machining pro-
cess
•
The external voltage connected to the control cabinet remains live even when the
robot is disconnected from the mains.
•
Additional connections
•
The power supply for the motors (up to 800 VDC)
•
The user connections for tools or other parts of the installation (max. 230 VAC, see
Installation and Commissioning Manual)
3HAC021111-001 Revision: B
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