ABB IRB 6400R Product On-Line Manual page 131

1 General ............................................................................................................................. 3
1.1 Introduction ........................................................................................................... 3
2 Applicable Safety Standards .......................................................................................... 3
3 Fire-Extinguishing........................................................................................................... 4
4 Definitions of Safety Functions ...................................................................................... 4
5 Safe Working Procedures ............................................................................................... 5
5.1 Normal operations ................................................................................................. 5
6 Programming, Testing and Servicing ............................................................................ 5
7 Safety Functions .............................................................................................................. 6
7.1 The safety control chain of operation .................................................................... 6
7.2 Emergency stops.................................................................................................... 7
7.3 Mode selection using the operating mode selector................................................ 7
7.4 Enabling device ..................................................................................................... 8
7.5 Hold-to-run control................................................................................................ 8
7.6 General Mode Safeguarded Stop (GS) connection................................................ 9
7.7 Automatic Mode Safeguarded Stop (AS) connection ........................................... 10
7.8 Limiting the working space ................................................................................... 10
7.9 Supplementary functions ....................................................................................... 10
8 Safety Risks Related to End Effectors........................................................................... 10
8.1 Gripper................................................................................................................... 10
8.2 Tools/workpieces ................................................................................................... 11
8.3 Pneumatic/hydraulic systems ................................................................................ 11
9 Risks during Operation Disturbances........................................................................... 11
10 Risks during Installation and Service ......................................................................... 11
11 The following standards are of interest when the robot is parts of a cell................. 13
12 Risks Associated with Live Electric Parts................................................................... 13
13 Emergency Release of Mechanical Arm ..................................................................... 14
14 Limitation of Liability................................................................................................... 14
15 Related Information...................................................................................................... 14
Product Manual
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Safety
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