Safety Function Manual for Collaborative Robot
English
English
  • Safety Function Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety functions of the collaborative robot
    • 1.1 Description of terms
    • 1.2 Collaborative operation mode
      • 1.2.1 Safety-rated monitored stop
      • 1.2.2 Hand guiding
      • 1.2.3 Speed and separation monitoring
      • 1.2.4 Power and force limiting
    • 1.3 Safety functions
      • 1.3.1 Robot limit functions
      • 1.3.2 Joint limit functions
    • 1.4 Matters to be checked upon replacing safety devices
    • 1.5 Matters to be checked before using the safety functions
      • 1.5.1 Encoder offset
      • 1.5.2 Checking the torque sensor
        • 1.5.2.1 Torque sensor offset
      • 1.5.3 Setting of tool data
      • 1.5.4 Password setting
    • 1.6 Robot safety conditions
      • 1.6.1 Robot limiting parameters
      • 1.6.2 Joint limiting parameters
    • 1.7 Safety layout
      • 1.7.1 Safety space setting
        • 1.7.1.1 Setting information on safety space parameters
      • 1.7.2 Safety tool modeling
      • 1.7.3 Safety robot modeling
      • 1.7.4WorkCell 3D
    • 1.8 Safety I/O signals
    • 1.9Safety Stop Function
    • 1.10 Safety condition monitoring
      • 1.10.1 Robot limiting parameter monitoring
      • 1.10.2Joint limiting function monitoring
      • 1.10.3 SCM board status monitoring
      • 1.10.4 Safety I/O status monitoring
      • 1.10.5 Recovery mode
        • 1.10.5.1 Recovery in case of robot position violations
        • 1.10.5.2 Recovery in case of robot speed violations
        • 1.10.5.3 Recovery in case of robot force violations
        • 1.10.5.4 Recovery in cases of safe operating stop (SOS) violations
    • 1.11 Collaborative robot collision detection mode
  • 2. Direct teaching
    • 2.1 Direct teaching switch assignment
    • 2.2 Driving the robot by direct teaching
    • 2.3 Direct teaching mode setting
    • 2.4 Constraint motion
  • 3. I/O setting
    • 3.1 I/O map
    • 3.2 Tool I/O
      • 3.2.1 Default specifications of the tool I/O
      • 3.2.2 Tool I/O setting
    • 3.3 Analog I/O
      • 3.3.1 Default specifications of the analog I/O
      • 3.3.2 Analog I/O setting
  • 4. Error messages
    • E7001~E7066
    • E7101~E7120
    • E7170~E7213
    • E7250~E7348
    • E7403~E7711
    • E7731~E7905
  • Attachment
    • The Rules on the Criteria for Occupational Safety and Health, and the Public Notice of Safety Inspec
  • Warranty
Powered by GitBook
On this page
  • Danger
  • Warning
  • Caution

Was this helpful?

  1. About this manual

Safety precautions

To ensure proper product use and user safety and to prevent property damages, make sure to read and fully understand the following precautions before using the product.

Danger

[Danger] impending risk: If not conformed to, operator deaths or severe injuries may occur.

  • Perform a risk assessment on the entire system, not the individual devices. Connecting other devices to the product may increase the risk level of the product or create new risks. If the devices of the integrated robot system have different risk levels, prepare safety devices based on the device with the highest risk level in preparedness for risks.

  • In installing the robot product and other devices, make sure to read, fully understand, and conform to the product installation instructions described in the manual.

  • In case of any issues of the product, such as faults and damages, stop using the product immediately and contact our Customer Support Team.

Warning

[Warning] Potential risk: If not conformed to, operator injuries or property damages, including serious product damages, may occur.

  • Take adequate safety measures according to the result of risk assessment, and accurately assign the safe range of robot installation. During the robot operation, product damages or user injuries may occur.

  • Persons who manufacture robot application systems or use the robot must read and fully understand the manual and undergo training in robot operation.

  • For the safety of operators and users, prepare adequate safety facilities such as safety fences before installing the product.

  • Secure sufficient space so that the robot arm can move freely. During the robot operation, product damages or user injuries may occur.

    Fasten locking bolts to the specified torque according to the specification sheet. Loose bolts may lead to damages of the robot because of falling from the installation position.

  • Pay attention to the product connections (power and cables) so that no conductive substances, such as liquid, dust, and metal particles, could infiltrate. Do not poke the connection with sharp objects or apply excessive force during cable connection. Corrosion or temporary short circuits of connectors may lead to product explosion or fires.

  • Check the wiring specification and connect devices with terminals that are suitable for the device types. Make sure to connect safety devices to dedicated terminals because connecting them to general terminals does not guarantee safety functions.

  • Never use damaged cables and do not disconnect cables while the product is in use. Doing so may lead to electric shocks, fires, faults, and injuries.

  • Long-time use of the product may lead to overheating and cause injuries such as burns. In the event it is necessary to touch the product, cool down the product sufficiently by powering it off and leaving it for at least one hour.

  • Never arbitrarily install, modify, disassemble, or repair the product. This may lead to faults and accidents. Hyundai Robotics will not take responsibility for product damages caused by such arbitrary actions.

Caution

[Caution] Minor risk: If not conformed to, minor operator injuries or property damages, including product damages, may occur.

  • Do not arbitrarily install, modify, disassemble, or repair the product. It is prohibited for persons other than experts from Hyundai Robotics to modify or attach parts to the product. Product faults caused by it will void free-of-charge services and warranty services.

  • In the event it is necessary to install or repair the product, contact our Customer Support Team to consign the work to experts.

  • Do not install or use the product at a place filled with dust or dirt. Dust or foreign matters may lead to product faults or malfunctions.

  • Do not install or use the product at a place of magnetism, a place which is affected by magnetism, or a place of electromagnetic interferences. Magnetism may lead to product damages or malfunction.

  • In operating the product, do not wear loose clothes or accessories. If you have long hair, you should tie it at the back of your head so it will not entangle between joints and the like of the robot.

  • While the product is in operation, do not enter its operating range or touch the robot. Doing so may lead to injuries.

  • Transport the product as it is packaged to prevent product damages, and store it at a dry and low-humidity place. Storing it at a humid place may lead to product damages or faults caused by moisture infiltration.

  • Store the product at a place that is clean, cool, dry, and free from high variation in temperature and humidity.

  • The product should be moved by two or more persons, and the correct posture should be maintained. If not, the persons may be subject to physical injuries in the waist, arms, legs, and the like.

  • In moving the product using lifting equipment, conform to the local and national safety regulations and the instructions for equipment use.

  • Before moving the product, read and conform to the moving instructions specified in the manual. Hyundai Robotics will not take responsibility for product damages caused during transportation by the customer.

PreviousNotation rulesNext1. Safety functions of the collaborative robot

Last updated 3 years ago

Was this helpful?