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APAS sensor head | Safety instructions
Bosch Rexroth AG, Edition 11.2020, 3 842 565 042
• The ease of movement of the collision detection element mechanics
must be checked every day and after every collision in all directions
of movement.
• Observe the requirements according to the valid standards and
directives regarding adapted end effectors in the corresponding
application (e.g. ISO/TS 15066 as amended).
• Error messages of the sensor skin autodiagnostics must be considered
by the systems integrator according to the specifications in the APAS
assembly instructions, the implementation must be checked in the
commissioning. After error messages, an automatic restart is not
admissible.
• The stopping distances of the corresponding APAS assistant are to be
adjusted to the deflection distances of the collision detection element
with adapted end effector. If necessary, the end effector must be
adjusted in an application-specific manner.
• The additional sensor elements on the collision detection element and
other assemblies that might be available may cause an extension of the
reaction time. If necessary, the process sequences must be adjusted
accordingly.
2.7
Installed safety equipment
The sensor head CDE has the following safety equipment:
Table 6: Safety device
Safety device
Description
Capacitive sensor skin
Detection of
persons and
detectable objects
in the vicinity of the
sensor head CDE.
Pendulum plate with
Detection of
inductive sensors
collisions at the
end effector by
deflecting the
pendulum plate.
Observe also the specifications in the assembly instructions of the
corresponding APAS assistant.
Function
Safe, contactless stop of the robot
arm before a collision occurs.
When the pendulum plate is
deflected far enough, two proximity
switches will be operated. If the
proximity switches are triggered,
a safe stop of the robot arm will
be performed. The max. velocity
of the robot must be set by the
integrator so that it is possible to
free the operator after collision
(recommended residual spring path:
10 mm).
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