GuardCom Installation Manual
guardcom_installation_manual_v1.0.docm
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7
Emergency stop
The GuardCom is not fitted with a dedicated emergency stop.
There is no direct transferal of emergency stop signals through the GuardCom System.
Yet, the signals through the GuardCom System can be set up so that the robot/conveyor station will
react appropriate to an emergency stop on the conveyor station/robot.
This is described in the following sections.
7.1
Emergency stop tiggered on the conveyor station
The control_ready setting (jumper 3) can be utilized to make the robot react to an emergency stop
issued on the conveyor station. Refer to section 6.3 for instruction on how to enable the setting.
If the confirm_ready signal to the GuardCom is turned off (in control_ready mode) it will turn off the
guardcom_is_ready light from GuardCom, which will tell the robot that the conveyor station is not
operational.
If the guardcom_is_ready signal is turned off whilst delivering/receiving a package (i.e., whilst the
Front Cargo Sensors are blocked by a passing package) it will issue a protective stop on the robot.
Figure 16. Protective stop on the robot is issued in the event that the guardcom_is_ready signal is turned off whilst a package is being
transferred.
NB. Note that the control_ready setting requires the confirm_ready signal from the conveyor station
before transferral of packages can start.
Refer to section 6.2 for further details on the control_ready setting and the confirm_ready signal.
7.2
Emergency stop tiggered on the robot
If emergency stop is triggered on the robot it will cause the robot_is_ready light from the GuardCom
Connect to be turned off.
The GuardCom turns off the robot_is_ready signal to the conveyor station,
which must cause the
rolls on the conveyor station to stop
–
just as if the robot had successfully transferred a package.
The Guard will start closing as the robot_is_ready light from the GuardCom Connect is turned off, but
the Guard might meet the package in transfer on its way up. This will trigger the guard_is_blocked
signal to the conveyor station and the guard_is_closed signal to the conveyor station will stay off.
Hence, the signals to the conveyor station will tell that there is a situation to be dealt with.
Top roller
VL
m
ar
ke
r
Conveyor station
Package
Front Cargo Sensors
blocked
guardcom_is_ready
signal off
STOP
