ABB IRB 6600 - 175/2.55 User Manual page 645

1.3.5 Risk of disabling function "Reduced speed 250 mm/s"
Do not change "Transm gear ratio" or other kinematic parameters from the Teach Pendant Unit
or a PC. This will affect the safety function Reduced speed 250 mm/s.
1.3.6 Safe use of the Teach Pendant Unit
The enabling device is a push button located on the side of the Teach Pendant Unit (TPU)
which, when pressed halfway in, takes the system to MOTORS ON. When the enabling device
is released or pushed all the way in, the robot is taken to the MOTORS OFF state.
To ensure safe use of the Teach Pendant Unit, the following must be implemented:
The enabling device must never be rendered inoperative in any way.
During programming and testing, the enabling device must be released as soon as there is no
need for the robot to move.
The programmer must always bring the Teach Pendant Unit with him/her, when entering the
robot's working space. This is to prevent anyone else taking control over the robot without the
programmer knowing.
1.3.7 Work inside the manipulator's working range
If work must be carried out within the robot's work envelope, the following points must be
observed:
- The operating mode selector on the controller must be in the manual mode position to render
the enabling device operative and to block operation from a computer link or remote control
panel.
- The robot's speed is limited to max. 250 mm/s when the operating mode selector is in position
< 250 mm/s. This should be the normal position when entering the working space. The position
100% "full speed"may only be used by trained personnel who are aware of the risks that this
entails.
- Pay attention to the rotating axes of the manipulator! Keep a distance to the axes in order not
to get entangled with hair or clothing. Also be aware of any danger that may be caused by
rotating tools or other devices mounted on the manipulator or inside the cell.
- Test the motor brake on each axis, according to section
3HAC 16246-1
1.3.5 Risk of disabling function "Reduced speed 250 mm/s"
A
1 Safety, service
Brake testing on page 10
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