Gate safety without e-stop for manual operation

[Tinus11]

Hello

I recently installed an IRB 3000 for machine tending a cnc lathe. I'm now looking in to the safety aspects of the installation.

Untill now the gate/door is in the "motor on" circuit of the robot so when I open the gate the robot will go to emergency stop state..

Does anyone have an idea of how to secure the the gate/door so the system/program will stop safely when opened during automatic operation but without the E-stop so I can manually control the robot with the gate opened?


Kind regards


Tinus

[Ztek]

The common way to connect a cell door to a ABB S3 M93 or later system * is to connect the door safety switch to the Auto Stop connection in the controller. This means that if you open the door during automatic operation the robot will stop and get into motors off state. Emergency stop should not be raised. To restart you only need to close the door and push motors on button and start button on the pendant. In manual (keyswitch in manual position) you control motors on/off via the hold to run switch at the pendant.
If you want an other way of starting the robot you can use system outputs and inputs and safety relays or a safety PLC to control the door and robot. For example you connect system input motors on to a button close to the door and then connect system input start connected to the same button via a short delay to restart operation without first pushing the motors on button on the controller ant then start at pendant. How to set up system input and output is described in the manuals.

Of course you can manipulate the safety system as you want, but I would strongly recomend to be sure that the robot is in motors off state when any door to the cell is open! Restart is an other thing and might be simplified as I described abowe, if you find out that you can do it in a safe way.

*I think there is the same in older systems too, but I have never worked with them.