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You must lock out and tag out power to the robot and its power supply before per-
l
forming any maintenance.
2.3 What To Do In An Emergency
The following is important safety information for actions to take in an emergency.
Stopping the Robot
Press any E-Stop button (a red push-button on a yellow background) and then follow the
internal procedures of your company or organization for an emergency situation.
Fire Response
If a fire occurs, use CO
Entrapment and Brake Release Button
In case of entrapment of a person by the robot, or any other emergency or abnormal situation,
a Brake Release button (above the Robot Status Display) allows you to manually position the
robot arms without enabling high power. When 24 VDC system power is ON, pressing this
button releases the brakes, which allows movement of the arms.
!
2.4 Robot Behavior
This section provides important information about the devices used to limit robot movements.
Hardstops
If the robot runs into one of its hardstops, the robot's motion will stop completely, the system
will generate an envelope error, and power will be cut to the robot motors.
The robot cannot continue to move after hitting a hardstop until you clear the error.
The robot's hardstops can stop the robot at any speed, load, and maximum or minimum exten-
sion.
Limiting Devices
There are no dynamic or electro-mechanical limiting devices provided by OMRON Robotics
and Safety Technologies, Inc. The robot does not have safety-rated soft axis or space limiting.
However, users can install their own safety rated (category 0 or 1) dynamic limiting devices if
needed, that comply with ISO 10218-1, Clause 5.12.2.
Singularities
A singularity is a condition caused by the collinear alignment of two or more robot axes, res-
ulting in unpredictable robot motion and velocities.
In the eCobra robot, any straight-line (MOVES) command sent to a fully-outstretched arm
Cartesian workspace boundary location is a singularity.
24402-000 Rev B
fire extinguisher to extinguish the fire.
2
DANGER: PERSONAL INJURY RISK
This robot is not a collaborative robot. It requires a dedicated work area that
prevents personnel from coming into contact with the robot during operation.
eCobra 600 and 800 Robots with EtherCAT
Chapter 2: Safety
39
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