Safety Functions; The Safety Control Chain Of Operation - ABB IRB 6400R Product On-Line Manual

Safety

7 Safety Functions

7.1 The safety control chain of operation

The safety control chain of operation is based on dual electrical safety chains which
interact with the robot computer and enable the MOTORS ON mode.
Each electrical safety chain consist of several switches connected in such a way that all
of them must be closed before the robot can be set to MOTORS ON mode. MOTORS
ON mode means that drive power is supplied to the motors.
If any contact in the safety chain of operation is open, the robot always reverts to
MOTORS OFF mode. MOTORS OFF mode means that drive power is removed from
the robot's motors and the brakes are applied.
LIM1
The status of the switches is indicated by LEDs on top of the panel module in the con-
trol cabinet and is also displayed on the teach pendant (I/O window).
After a stop, the switch must be reset at the unit which caused the stop before
the robot can be ordered to start again.
The time limits for the central two channel cyclic supervisions of the safety control
chain is between 2 and 4 second.
The safety chains must never be bypassed, modified or changed in any other way.
6
K1
K1 K2
Interlocking
EN RUN
&
Man1
Auto1
TPU
ES1
En1
GS1 AS1
K2
Drive
Unit
&
+
TPU
LIM2 ES2
En2
External
GS2
contactors
M
Man2
+
Auto2
AS2
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