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183574-1CD
183574-1CD
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Introduction
1.4 System Overview and Variations
ArcWorld 50/50S/52/52S
1.4.4 Safety Logic Implementation (all cells):
1.4.4.1 TEACH/PLAY mode
Disabling the FSU function can be difficult, especially when the Robot
violates a defined Robot range or some other corrective action needs to
be taken. Disabling the FSU function requires the “Safety mode”
password. Then all of those functions have to be re-enabled before PLAY
mode production can begin. To eliminate these issues and expedite the
steps to a remedy, PLAY mode status is a condition for many of the FSU
files, while changing to TEACH mode will let a user quickly escape the
violating condition.
Putting the system in TEACH mode is often a first
step to bypass or recover from many of the FSU's monitoring
functions.
The next thing to do is to move the Robot or barrier door into a
condition that allows the cell to resume operation safely.
In TEACH mode, the Robot is limited to motions within the cell. This
perimeter definition is in a Range Limiting file to match the cell fencing.
1.4.4.2 TEACH mode
In TEACH mode a “R1 Teach Zone” has been established for the purpose
of ensuring that the Robot remains within the confines of the work cell.
Since TEACH mode is already limiting the speed to
250 mm/sec, no additional safeguards will be taken. In TEACH mode,
“Standstill Monitoring” on the headstock(s) is also disabled so that the
programmer can jog and teach the Positioners.
Fig. 1
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4: Teach Zone - Access within Perimeter of Safe Guards (Fence
and Doors))
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