Emergency Stops; Mode Selection Using The Operating Mode Selector - ABB IRB 6400R Product On-Line Manual

7.2 Emergency stops

An emergency stop should be activated if there is a danger to people or equipment.
Built-in emergency stop buttons are located on the operator's panel of the robot con-
troller and on the teach pendant.
External emergency stop devices (buttons, etc.) can be connected to the safety chain
by the user (see Product Manual/Installation). They must be connected in accordance
with the applicable standards for emergency stop circuits.
Before commissioning the robot, all emergency stop buttons or other safety equipment
must be checked by the user to ensure their proper operation.
Before switching to MOTORS ON mode again, establish the reason for the stop
and rectify the fault.

7.3 Mode selection using the operating mode selector

The applicable safety requirements for using robots, laid down in accordance with
ISO/DIS 10218, are characterised by different modes, selected by means of control
devices and with clear-cut positions.
One automatic and two manual modes are available:
The manual mode, < 250 mm/s or 100%, must be selected whenever anyone enters the
robot's safeguarded space. The robot must be operated using the teach pendant and, if
100% is selected, using Hold-to-run control.
In automatic mode, the operating mode selector is switched to
arrangements, such as doors, gates, light curtains, light beams and sensitive mats, etc.,
are active. No-one may enter the robot's safeguarded space. All controls, such as emer-
gency stops, the control panel and control cabinet, must be easily accessible from out-
side the safeguarded space.
Programming and testing at reduced speed
Robot movements at reduced speed can be carried out as follows:
• Set the operating mode selector to <250 mm/s
• Programs can only be started using the teach pendant with the enabling device acti-
vated.
The automatic mode safeguarded space stop (AS) function is not active in this mode.
Product Manual
Manual mode:
< 250 mm/s - max. speed is 250mm/s
100% - full speed
Automatic mode: The robot can be operated via a remote control device
Safety
, and all safety
7