Limitation Of Velocity; Enable; Supervision; Monitoring - ABB IRB 6400R Product On-Line Manual

System Description

5.4 Limitation of velocity

To program the robot, the operating mode switch must be turned to MANUAL
REDUCED SPEED position. Then the robot's maximum velocity is limited to 250
mm/s.

5.5 ENABLE

ENABLE is a 24 V signal, generated in the supply unit. The signal is sent through the
robot computer, to the panel unit.
The errors that affect the Enable signal are:
• In the supply unit; errors in the input voltage.
• In the robot computer; errors in the diagnostics or servo control program.
• In the drive unit; regulating errors and overcurrent.
5.6 24 V supervision
If the 24 V supply to the safety circuits drops out, the MOTORS ON contactors will
drop out, causing the motors to switch off.

5.7 Monitoring

Monitoring is carried out using both hardware and software, and comprises the external
part of the safety circuits, including switches and operating contacts. The hardware and
software parts operate independently of each other.
The following errors may be detected:
All inputs from the safety circuits are linked to registers, which allows the robot com-
puter to monitor the status. If an interrupt occurs in the circuit, the status can be read.
If any of the switch functions are incorrectly adjusted, causing only one of the chains
of operation to be interrupted, the robot computer will detect this. By means of hard-
ware interlocking it is not possible to enter MOTORS ON without correcting the cause.
Product Manual
Safety System
21