ABB IRB 6600 - 175/2.55 User Manual page 644

1 Safety, service
1.3.1 Safety fence dimensions
Section 1.3: Safety actions
1.3.1 Safety fence dimensions
General Fit a safety fence or enclosure around the robot to ensure a safe robot installation.
Dimensioning
Dimension the fence or enclosure to enable it to withstand the force created if the load being
handled by the robot is dropped or released at maximum speed. Determine the maximum
speed from the maximum velocities of the robot axes and from the position at which the robot
is working in the work cell (see Product Specification - Description, Robot Motion).
Also consider the maximum possible impact caused by a breaking or malfunctioning rotating
tool or other device fitted to the manipulator.
1.3.2 Fire extinguishing
Use a CARBON DIOXIDE (CO
or controller)!
1.3.3 Emergency release of the manipulator's arm
Description
In an emergency situation, any of the manipulator's axes may be released manually by push-
ing the brake release buttons on the manipulator or on an optional external brake release unit.
How to release the brakes is detailed in section "Manually releasing the brakes".
The manipulator arm may be moved manually on smaller robot models, but larger models
may require using an overhead crane or similar.
Increased injury
Before releasing the brakes, make sure that the weight of the arms does not increase the
pressure on the trapped person, which may further increase any injury!
1.3.4 Brake testing
When to test
During operation the holding brakes of each axis motor wear normally. A test may be per-
formed to determine whether the brake can still perform its function.
How to test The function of each axis' motor holding brakes may be checked as detailed below:
1. Run each manipulator axis to a position where the combined weight of the manip-
2. Switch the motor to the MOTORS OFF position with the Operating mode selector
3. Check that the axis maintains its position.
10
ulator arm and any load is maximized (max. static load).
on the controller.
If the manipulator does not change position as the motors are switched off, then the brake
function is adequate.
A
) extinguisher in the event of a fire in the robot (manipulator
2
3HAC 16246-1