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Checking and maintaining the electrical system

  • ► Perform regular visual inspections of the electrical system.
  • ► If the electrical components are damaged, decommission the system immediately and have it repaired by a specialist using genuine replacement parts.

Checking the zero position of the robot arm​

To verify that the robot arm is in its zero position, each drive module is moved to its zero position. In manual mode, the robot moves at a reduced speed.

Procedure​

  • ✓ Automatic mode has been stopped, and a safe operating state has been established.
  • ► Turn on manual mode (see Switching between operating modes).
  • ► Using RobCo Studio in conjunction with the activated enabling unit (see also Enabling unit), move each drive module to its zero position.
    • ⇨ The robotic arm moves to its fully extended home position. Depending on the kinematic structure, this position is either upright or extended horizontally.
    • ⇨ When in an upright position, the robot should stand straight and not lean in any direction.
  • ► If you notice any discrepancies in the zero positions, replace the affected drive modules.
  • ⇒ The zero position check is complete.

Checking safety inputs and outputs​

When a device (sensor, actuator, tool, etc.) is connected to one of the M12 connectors or the I/O terminal blocks, it sends digital signals to the system or receives them from the system.

To verify the operation of the connected devices, you must check that the system is fully functional (for example, if a tool is connected, verify that the tool begins performing its task at the end of the required travel path).

Procedure​

  • ✓ Automatic mode has been stopped.
  • ► Turn on manual mode (see Switching between operating modes).
  • ► Use RobCo Studio in conjunction with the activated enabling unit (see also Enabling unit) to trigger an axis movement for each device.
  • ► Check to see if the movement is being performed correctly. Alternatively, monitor the signals in RobFlow.
  • ► If necessary, remove individual jumpers from the I/O terminal block and check whether the shutdown function is triggered.
  • ► If you notice any irregularities in the axis movements, check the wiring at the I/O terminal block.
    • ⇨ Monitor the signals in RobSafety.
  • ⇒ The inspection of the safety inputs and outputs is complete.

Checking safety functions​

All safety functions (SF1 through SF13) of the entire system must be tested regularly.

The tests to be performed depend on the scope of the system components and the configuration of the entire system. It is the integrator's responsibility to determine the tests to be performed as part of the risk assessment and to describe them in the operating instructions.

Checking the enabling unit​

The function of the three-stage enabling switch must be checked regularly.

Procedure​

  • ✓ Automatic mode has been stopped.
  • ► Turn on manual mode (see Switching between operating modes).
  • ► Press and hold the enabling switch in the middle position,
  • ► Use RobCo Studio to trigger axis movements.
  • ► Release the enabling switch.
    • ⇨ The axis movement must stop immediately.
  • ► If the axis movement does not stop, replace the enabling unit.
  • ► Press and hold the enabling switch in the middle position,
  • ► Use RobCo Studio to trigger axis movements.
  • ► Press the confirmation button all the way down.
    • ⇨ The axis movement must stop immediately.
  • ► If the axis movement does not stop, replace the enabling unit.
  • ⇒ The check of the enabling unit is complete.

Checking safety devices​

  • ► Check that the safety devices are functioning properly:

  • Before initial startup

  • Before restarting after a prolonged shutdown

  • Every day before starting work.

Prerequisites for the check​

Turning on the System

Illustration 48: Turning on the System

  1. Illuminated ON/OFF switch
  2. "Safety Reset" button
  • ► Check all system components for external damage.
    • ⇨ If you notice any damage, repair it or have it repaired. NOTICE! The system may not be turned on if the protective cover is damaged.
  • ► Check the supply voltage. It must match the information in Technical data.
  • ► Unlock all emergency stop buttons.
  • ► Turn the light selector switch on the control unit to the ON position.
    • ⇨ The LED on the illuminated selector switch is green.
    • ⇨ The LED on the control unit for robot communication will light up green after 1–2 minutes, once communication has been established.
  • ⇒ The system is turned on.

Emergency stop test​

Emergency stop test

Illustration 49: Emergency stop test

  1. Emergency stop button (enabling unit)
  • ✓ The system is turned on.
  • ► Press an emergency stop button.
    • ⇨ The system is switched to a safe state. No system component should be able to be turned on.
    • ⇨ Peripheral devices (e.g., grippers) are turned off and may not be turned on.
  • ► Unlock the emergency stop button again.
    • ⇨ The Safety Reset button on the control unit is flashing.
  • ► Press the <Safety Reset> button on the control unit to reset the emergency stop function.
    • ⇨ The brakes of the robot system are released, which is audible as a click.
  • ► Repeat the power-on and test procedures for each emergency stop button on the robot system.
  • ⇒ The test of the emergency stop function is complete.