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

System Description

5 Safety System

The robot's safety system is based on a two-channel safety circuit that is continuously
monitored. If an error is detected, the power supply to the motors is switched off and the
brakes engage. To return the robot to MOTORS ON mode, the two identical chains of
switches must be closed. As long as these two chains differ, the robot will remain in the
MOTORS OFF mode.
Figure 15 below illustrates an outline principal circuit with available customer contacts.
ES
GS
TPU En
AS
Operating
mode selector
Figure 15 Outline diagram of one of the safety circuits.

5.1 The chain of operation

The emergency stop buttons on the operator's panel and on the teach pendant and external
emergency stop buttons are included in the two-channel chain of operation.
A safeguarded stop, AUTO STOP, which is active in the AUTO operating mode, can be
connected by the user. In any of the MANUAL modes, the enabling device on the teach
pendant overrides the AUTO STOP.
The safeguarded stop GENERAL STOP is active in all operating modes and is connected
by the user.
The aim of these safeguarded stop functions is to make the area around the manipulator
safe while still being able to access it for maintenance and programming.
Product Manual
LS
Solid state switches
&
Manual
Auto
2nd
chain
interlock
RUN
EN
Computer commands
LS = Limit switch
AS = Automatic mode safeguarded space Stop
TPU En= Enabling device, teach pendant unit
GS = General mode safeguarded space Stop
ES = Emergency Stop
Safety System
Contactor
Drive
unit
M
19