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Safety
7.7 Automatic Mode Safeguarded Stop (AS) connection
The AS connection is provided for interlocking external safety devices, such as light
curtains, light beams or sensitive mats used externally by the system builder. The AS
is especially intended for use in automatic mode, during normal program execution.
The AS is by-passed when the operating mode selector is in the MANUAL or
MANUAL FULL SPEED position.
7.8 Limiting the working space
NOTE! Not valid for IRB 340(r)
For certain applications, movement about the robot's main axes must be limited in
order to create a sufficiently large safety zone. This will reduce the risk of damage to
the robot if it collides with external safety arrangements, such as barriers, etc.
Movement about axes 1, 2 and 3 can be limited with adjustable mechanical stops or by
means of electrical limit switches. If the working space is limited by means of stops or
switches, the corresponding software limitation parameters must also be changed. If
necessary, movement of the three wrist axes can also be limited by the computer soft-
ware. Limitation of movement of the axes must be carried out by the user.
7.9 Supplementary functions
Functions via specific digital inputs:
• A stop can be activated via a connection with a digital input. Digital inputs can be used
to stop programs if, for example, a fault occurs in the peripheral equipment.
Functions via specific digital outputs:
• Error – indicates a fault in the robot system.
• Cycle_on – indicates that the robot is executing a program.
• MotOnState/MotOffState – indicates that the robot is in MOTORS ON / MOTORS
OFF mode.
• EmStop - indicates that the robot is in emergency stop state.
• AutoOn - indicates that the robot is in automatic mode.
8 Safety Risks Related to End Effectors
8.1 Gripper
If a gripper is used to hold a workpiece, inadvertent loosening of the workpiece must
be prevented.
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