User’s Manual Safety Considerations
Brooks Automation
Revision 1 2-5
• Be aware of the hazardous points of the Atmospheric Single-Arm Robot as described in this section.
CAUTION
Use of the Atmospheric Single-Arm Robot for any purpose other than as a robot is not recommended and may cause damage to the product or the equipment it is connected to.
Some moving mechanisms have no obstruction sensors and can cause personal injury.
Whenever power is applied, the possibility of automatic movement of the components within the Atmospheric Single-Arm Robot exists, which could result in personal injury.
Robot Safeguards User’s Manual
Robot Safeguards
The robot has the following safety features:
• In case of electrical power failure, each axis stops in whatever position it is in at the time of failure.
• If the encoder signal cable is disconnected while the power is on, the amplifier is disabled.
• If the robot hits an object, the system stops. That is, when the following error is greater than the configured limit, the controller disables the axis. The follow-ing error is a robot parameter that limits the difference in encoder counts between the actual position and the expected position.
For the safety of the operating personnel, Brooks Automation requires that robotic systems are enclosed behind safety doors and interlocks. In addition, the safety train-ing of personnel required by ANSI/RIA R15.06 should be followed.
The robot system safety enclosure is sized to encircle the furthest extension of the robot arm as shown in Figure 2-1.
No person shall be allowed within the enclosure during testing and startup.
Brooks Automation recommends that you activate the robot from outside the restricted envelope. This can be done in one of these ways:
• Configure the equipment so that the robot-control panel or any actuating con-trols are outside the restricted envelope.
• Build an enclosure for the robot and locate all controls outside this enclosure.
enclosure
Figure 2-1: Robot System Safety Enclosure
User’s Manual Emergency Stop (EMS/MOFF)
Brooks Automation
Revision 1 2-7
Emergency Stop (EMS/MOFF)
The Brooks Automation robot control system has an emergency stop circuit. The emergency stop circuit, when activated, overrides all other controls, removes power to the motor amplifiers, and causes all motion to stop. Brooks Automation does not provide a robot stop on the system, but a TTR-200 Teach Pendant has an EMER-GENCY STOP button. (See page 26 for information on the Teach Pendant.)
Emergency Stop (EMS) or Motor Off (MOFF) is hardware-activated. STOP is an optional feature and is software-activated. The inputs are on the I/O Board located in the controller:
• EMS or MOFF. If the EMS/MOFF input on the I/O board is activated, the dc power to the amplifiers is cut off, which turns off the servo motors.
To recover from EMS/MOFF, inspect the system for any damage or interfering components, pull out the STOP button, start up the system, turn on servo motors for all axes (SVON).
To enable EMS/MOFF, activate pin 20 (+) and pin 3 (-) on the DB37 connector with 24 volts dc (SEMI S2 systems) or 5/24 volts dc (non-SEMI S2 systems) wired normally closed, as shown in the Emergency Stop Circuit and Intercon-nect diagram.
For more details, refer to Chapter 12: Drawings. To custom configure other than the default settings, contact your Brooks Automation representative.
• STOP (software). If the STOP input on the I/O board is activated, the software immediately decelerates all axes and all motion is stopped.
To enable STOP, activate pin 20 (+) and pin 21 (-) on the DB37 connector with 24 volts dc (SEMI S2 systems) or 5/24 volts dc (non-SEMI S2 systems) wired normally closed, as shown on the Emergency Stop Circuit and Interconnect diagram.
Emergency Stop (EMS/MOFF) User’s Manual
Pin 24 (+24/+5 Vdc) Software Stop
Safety Interlock Power
Interlock Loop
DB37
Optocoupler Interlock Power
EMS/MOFF
Monitor Pins
Cut-off
J7
SCSI 68
I/O Board
Interlock Power Motor
Pin 6 (-return)
Pin 3 (-return)
Circuit Pin 24 (+24/+ 5Vdc)
Pin 20 (+24/+5 Vdc)
Pin 5 (-return)
Power Circuit
Safety Interlock Pin 67 (-return)
Pin 21 (- return)
Pin 23 (+ out)
Figure 2-2: Emergency Stop Circuit and Interconnect Diagram
User’s Manual EMC and ESD Protection
Brooks Automation
Revision 1 2-9
EMC and ESD Protection
A third party has tested the product to ensure electromagnetic compatibility for both emissions and immunity. The product complies with the EMC Directive.
For protection against Electromagnetic Interference (EMI), it is strongly recom-mended that you place the Brooks Automation Smart Controller (ESC) as close to the root as possible.
ESD/EMI Precautions
Protection against electrostatic discharge (ESD) is designed into the robot. The robot can withstand ESD up to 15 kV, which is higher than current EMC requirements. If you attach a Teach Pendant, the system is more susceptible to ESD and EMI problems.
Instructions for grounding the TTR-100 and TTR-200 to eliminate ESD related prob-lems are given in instructions for connecting the Teach Pendant on xx
For robot
The product complies with the EMC directives and can withstand up to 15 kV ESD.
Safety Labels User’s Manual
Safety Labels
Hazards to personnel include electric shock, burns, collision with a moving robot, and laser radiation.
Damage to equipment may result from faulty installation, improper operation, inad-equate or incorrect maintenance, and other forms of misuse or abuse.
CAUTION
Ignoring information about potential hazards can lead to serious harm to personnel and/or damage to equipment, and may result in the nullification of the manufacturer’s equipment warranty.
Laser Warning Labels
The laser scanner should not be serviced in the field. Customers who remove the laser scanners from the robot should not attempt to troubleshoot or repair them. Instead, return them to Brooks Automation for service.
Laser warning labels are affixed to the laser scan-ner as shipped from the laser manufacturer, as shown here.
Class 1