Emergency Stop - ROBOTIQ AX20 Manual

A contact between a person and the Solution may result in material damage, bodily injury and even death. Make
sure anyone working around the Palletizing cell takes all necessary precautions:
Before starting the machine:
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Make sure safety devices like laser safety scanners, light curtains or fences with interlock are deployed to
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make sure the Solution is stopped when the operator is within an unsafe distance of the solution.
Make sure no one is within arm's distance of the Solution when the Solution's safeguard is reset or when
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the program is started, especially in zones where the presence of the operator cannot be detected (e.g.,
Pallet zone, palletizer base, etc.)
Make sure the solution is properly anchored according to installation instructions of this user manual.
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Make sure that a situation where the operator is trapped between the robot and an object surrounding the
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Solution is not possible.
The customer has to assess the risks of a person approaching the Solution on any sides of the solution.
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The linear axis is NOT power and force limited. Contact with the linear axis or the robot presents a high level of
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risk. Pinching, impacts or crushing risks must be considered.
When the linear axis is moving while the robot is stopped, the force limitation safety feature of the robot is not
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effective. Therefore, even if the robot is force limited, contact with the robot presents a high level of risk.

2.2.2. Emergency Stop

There is no emergency stop button directly on the Robotiq Palletizer. The emergency stop button used by the
Palletizing Solution is the one found on the robot's teach pendant. Make sure operators know how to stop the
Solution in case of emergency.
Depending on the supply source, when the emergency stop (e-Stop) button is pressed, the following consequences may occur.
The user has the responsibility to perform a risk assessment and choose the appropriate option.
Supply Source
Robot Control Box
Supply (any 24 V
terminal)
Robot tool supply
(tool connector)
The Vacuum Gripper is powered on.
An object is detected: the vacuum level will continue to be regulated and the object will not be lost.
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Note: the PowerPick20/30 gripper (optional) connects to the robot control box supply.
Power failure to the Vacuum Gripper.
The vacuum level will drop to ambient pressure and the object will be lost.
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It is not recommended to connect the Vacuum Gripper to the tool connector.
DANGER
WARNING
Behavior
AX20/AX30 Palletizing Solution
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