Run-On Motions of the Robot for Risk Analysis

Overview

What is measured is the time from the application of a stop signal to the standstill of the robot. This measurement is carried out for various different loads and velocities (measurement according to ISO 10218-1).

 WARNING
BREAKDOWN OF THE INTERNAL MOTOR HOLDING BRAKE
  • Do not consider the internal motor holding brake to be a functional safety device.
  • Take into account a possible breakdown of the internal motor holding brake during your safety analysis.
  • Take into account that the internal motor holding brake of the robot only withstands a limited number of brake operations.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If there is a power outage of the control system, the brakes are applied and the robot mechanics leave the planned trajectory.

 WARNING
LEAVING THE PLANNED TRAJECTORY OF THE ROBOT MECHANICS
  • Use the buffering of the 24 V supply (UPS) in order to enable a controlled stop of the mechanics, in accordance with stop category 1, by making use of the stored residual mechanical and electrical energy.
  • Use a synchronous stop on the path to avoid collisions with obstacles.
  • Observe the extension of the run-on path while performing your risk analysis.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Stop Function Categories

The following table presents the stop function categories according to IEC 60204-1 that are related to the product:

Stop function category

Definition

Corresponds to

0

Stopping by immediate removal of power to the machine actuators (for example, an uncontrolled stop).

An uncontrolled stop (stopping of machine motion by removing electrical power to the machine actuators).

1

A controlled stop with power available to the machine actuators to achieve the stop and then removal of power when the stop is achieved.

An controlled stop (stopping of machine motion with power to the machine actuators maintained during the stopping process).

Run-On Path Robot VRKT1M0

Run-on path of the robot VRKT1M0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT1M0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Run-On Path Robot VRKT2M0 and Robot VRKT2L0

Run-on path of the robot VRKT2M0 and the robot VRKT2L0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT2M0 and the robot VRKT2L0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Run-On Path Robot VRKT2M1

Run-on path of the robot VRKT2M1 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT2M1 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Run-On Path Robot VRKT3M0 and Robot VRKT3L0

Run-on path of the robot VRKT3M0 and the robot VRKT3L0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT3M0 and the robot VRKT3L0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Run-On Path Robot VRKT3M1

Run-on path of the robot VRKT3M1 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT3M1 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Run-On Path Robot VRKT5M0 and Robot VRKT5L0

Run-on path of the robot VRKT5M0 and the robot VRKT5L0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT5M0 and the robot VRKT5L0 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Run-On Path Robot VRKT5M1

Run-on path of the robot VRKT5M1 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

Stopping time of the robot VRKT5M1 for stop category 0:

For further information, refer to IEC 60204-1. If necessary, use the holding brake for a stop category 0.

EIO0000002280.04

© 2020

Schneider Electric.

All rights reserved.