ABB机器人IRC5trainingSafetypresentation.ppt
IRC5 OperatorIRC5 操作,Safety 安全,Introduction 介绍,Students participating in courses arranged by ABB needs to have knowledge about safety routines from the Users Manual and Product Manual 参与ABB安排的课程的学生需要从用户手册和产品手册中学习安全程序.After a teacher information students will study the document.They must acknowledge the understanding of safety routines and how to work with robots in the training premises by signing a paper.在老师介绍后,学生将学习文档.在培训中通过书面考核,他们必须了解安全程序和机器人如何工作的.,Accident Risks 意外事故,Fault tracing 故障查寻Repair 修理Change of program 更改程序Test run 运行测试,ABB Safety Solutions an Overview ABB 安全方案-浏览,Emergency stop 急停Operating mode 操作模式Auto 自动Manual 250 mm/s 手动Manual 100%手动Enabling device使能器(Dead mans grip)Hold-to-run全速运行保持键Safeguard stop安全停止(Auto and Manual)Limiting the workspace 限制工作空间,Law Demands 法律须知,The construct design for the robot is to comply with requirements that are stated in i ISO 10218,Jan 1992,industrial robot safety.Robot also comply with requirements for ANSI/RIA 15.06-1999.机器人结构依照1992年9月ISO10218工业机器人安全标准设计,也符合ANSI/RIA 15.06-1999标准要求.Definition of safety function/regulations:安全功能/规则定义Emergency stop IEC 204-1,10.7 急停Enabling device ISO 11161,3.4 使能器Safeguard ISO 10218(EN 775),6.4.3 安全装置Reduced speed ISO 10218(EN 775),3.2.17 减速Interlock ISO 10218(EN 775),3.2.8 互锁Hold to run ISO 10218(EN 775),3.2.7 全速运行保持,Emergency Stop 急停,Built in emergency stop pushbuttons are found both on the FlexPendant and Controller-X-module as default.在示教器和控制模块上,内置急停按钮Extra emergency stops can be connected to the robot systems safety chain.外部急停可以被连接到机器人急停链中,Operating Mode 操作模式,Automatic mode 自动模式Production mode(no speed limit)产品模式(没有速度限制)Manual mode 手动模式 250 mm/s max velocity 250 mm/s 小于250 mm/s 最大速度250 mm/s100%Option,robot can be jogged/tested with no speed limit.100%-可选,机器人调试/测试不受速度限制,Enabling Device(Dead Mans Grip)使能键,The enabling device is a press switch with three positions使能键是一个具有三个位置的压力开关The switch must be in the middle positions in order to activate the motors为了激活电机开关必须在中间位置All robot movement will immediately stop if the switch is released or pressed to the bottom 开关放开或按到底部,机器人立即停止运动,Enabling device使能键,Hold-to-Run(Manual 100%)全速运行键,Option(this function can be selected in the parameters)可选(这个功能在参数里可以选择)The enabling device and one of the hold-to-run buttons must be pressed simultaneously to start the motors 使能键和一个全速运行保持按钮必须被同时按下,电机放可运行,Enabling device使能键,Safeguard Stop 安全装置停止,The connection of safeguard stop enables inter-locking of external safety equipment,such as:doors,photo-electric trip device,photo cells or sensible mats 安全停止连接使外部安全设备联锁生效,例如:安全门,光电开关,等Safeguard stop can be connected in two ways:安全停止有两种方式连接Manual the safeguard stop is active regardless of operating modes 手动-不管任何操作模式,安全停止被激活Auto the safeguard is active when automatic mode is selected 自动-自动模式下,安全停止激活Possibility to activate Delayed Safeguard Stop.A delayed stop gives a smooth stop.The robot stops in the same way as at a normal program stop with no deviation from the programmed path.After approx.1 second the power supplied to the motors shuts off.激活延时安全停止的可能性 一个延时停止使停止平滑。相当于正常的程序停止，机器人不偏离程序路径。在大约1秒后,电机供电电源被切断。,Limiting the Workspace 限制工作区域,To avoid the risk of getting caught between the robot and the outer safe equipment,e.g.a fence,the robots workspace can be limited:避免机器人和外围设备碰撞,例如:围栏,可以限制机器人工作区域All axis can be software controlled 所有轴可以被软件控制Axis 13 can be limited by adjustable mechanical stops and controlled by limit switches 1-3轴可以通过机械或限位开关限制,Safety Regarding Grip Device 关于夹具的安全,All grip devices must be designed so the work piece will be hold even on power failure and other disturbances in the robot system 在电源掉电或机器人系统中其它干扰时,夹具必须夹住工件There should be possibilities to loosen the work piece manually 可以手动放开工件,Electrical Safety 电气安全,Hazardous power in both the cabinet and the robot 控制柜和机器人的高压Net power 400 VAC 功率Transformer 260 VAC 变压器Rectifier 260 VAC and 370 VDC整流器Power supply 370 VDC 电源Power supply to robot motors up to 370 VDC 电机电源Customer equipment 用户设备,Safety Regarding Releasing the Breaks 关于释放制动器的安全规定,The breaks on the robot motors can be manually released to release a caught individual 关于机器人的制动器可以手动的释放Before the breaks are released,be sure the weight of the robot arms dont jam the individual even more 在释放制动器前,确认机器手臂重量没有卡住东西,Personal Safety 人员安全,Control the robots maximum work space 控制机器人的最大工作区域You may have to move the table to get a safe area outside the robots work space,in order to minimize the risk for personal contact with the robot 为了人员安全,你要离开机器人的工作区域.,Stop the System 停止系统,Stop the system immediately if 立即停止系统,如果:there is any personnel in the robot working area,while the robot is working 机器人运行时,有任何人进入机器人工作区域.the robot cause harm to personnel or mechanical equipment 机器人对人员或机械设备造成损害,Recover from Emergency stops 急停恢复,Procedure 步骤,
