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17 Robot and IMM integration
The following subsections contain important information for the integrator.
17.1 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 safe-
guard stopped when a door on the IMM is open.
17.2 Connecting a MAF light guard
The MAF signal [A3-C3] in the EUROMAP 67 cable enables the powerful movement of the mould.
Care must be taken to prevent the mould from closing when the robot is inside the machine.
The EUROMAP 67 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
be purchased for a few hundred USD (e.g. "PSEN op 2H-s/1" from Pilz).
1
According to ISO 13849-1, see Glossary for more details.
Version 3.10
DANGER:
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.
III-7
1
1 light curtain can
CB3
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