Safe Working Procedures; Normal Operations; Programming, Testing And Servicing - ABB IRB 6400R Product On-Line Manual

5 Safe Working Procedures

Safe working procedures must be used to prevent injury. No safety device or circuit
may be modified, bypassed or changed in any way, at any time.

5.1 Normal operations

All normal operations in automatic mode must be executed from outside the safe-
guarded space.

6 Programming, Testing and Servicing

The robot is extremely heavy and powerful, even at low speed. When entering into the
robot's safeguarded space, the applicable safety regulations of the country concerned
must be observed.
Operators must be aware of the fact that the robot can make unexpected movements.
A pause (stop) in a pattern of movements may be followed by a movement at high
speed. Operators must also be aware of the fact that external signals can affect robot
programs in such a way that a certain pattern of movement changes without warning.
If work must be carried out within the robot's work envelope, the following points
must be observed:
• The operating mode selector on the controller must be in the manual mode position
to render the enabling device operative and to block operation from a computer link
or remote control panel.
• The robot's speed is limited to max. 250 mm/s (10 inches/s) when the operating mode
selector is in position < 250 mm/s. This should be the normal position when entering
the working space. The position 100% – full speed – may only be used by trained per-
sonnel who are aware of the risks that this entails.
Do not change "Transm gear ratio" or other kinematic parameters from
the teach pendant or a PC. This will affect the safety function Reduced speed
250 mm/s.
• During programming and testing, the enabling device must be released as soon as
there is no need for the robot to move.
The enabling device must never be rendered inoperative in any way.
• The programmer must always take the teach pendant with him/her when entering
through the safety gate to the robot's working space so that no-one else can take over
control of the robot without his/her knowledge.
Product Manual
Safety
5