Work Inside The Manipulator's Working Range - ABB IRB 120 Product Manual

1 Safety

1.2.3.7. Work inside the manipulator's working range

1.2.3.7. Work inside the manipulator's working range
WARNING!
If work must be carried out within the manipulator's work envelope, the following points
must be observed:
WARNING!
NEVER, under any circumstances, stay beneath any of the manipulator's axes! There is
always a risk that the manipulator will move unexpectedly when manipulator axes are moved
using the enabling device or during other work inside the manipulator's working range.
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• The operating mode selector on the controller must be in the manual mode position to
render the enabling device operational and to block operation from a computer link or
remote control panel.
•
The manipulator's speed is limited to max. 250 mm/s when the operating mode
selector is in the position Manual mode with reduced speed. This should be the normal
position when entering the working space. The position Manual mode with full speed
(100%) 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 the section Brake testing on page
3HAC035728-001 Revision: B
27.