Robot And Imm Integration; Emergency Stop And Safeguard Stop; Connecting A Maf Light Guard - Universal Robots UR5 User Manual

A.2. Robot and IMM integration
A.2 Robot and IMM integration
The following subsections contain important information for the integrator.
A.2.1 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]) ensures that
the robot is safeguard stopped when a door on the IMM is open.
A.2.2 Connecting a MAF light guard
The MAF signal [A3-C3] in the euromap67 cable enables the powerful move-
ment of the mould. Care must be taken to prevent the mould from closing
when the robot is inside the machine.
The euromap67 interface is supplied without a MAF light guard. This means that
an error in the robot program could cause the IMM mould to close and crush
the robot. However, it is possible to connect a light guard as shown below to
prevent these accidents. A category 1 light curtain can be purchased for a
few hundred dollers (e.g. "PSEN op 2H-s/1" from Pilz).
All Rights Reserved
DANGER:
1. It is not a part of the euromap67 standard to stop the
IMM if the robot is safeguard stopped. This means that if
the operator enters (walk into) the workspace of the robot,
he shall not be able to enter (or reach into) the workspace
of the IMM (Unless if a safety device on the IMM causes a
safe stop of the IMM when the operator enters (or reach
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 thrid 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.
CAUTION:
1. If you do not install a light curtain you may damage both
the robot and the mould.
47 UR5