EVA - Safety Manual Version 4.0.0 - November 2020 IMPORTANT Before attempting to set up or operate the robot: 1. 2. Familiarise yourself with the safety instructions contained within this manual Conduct a full risk assessment Download the latest manuals from automata.
Contents EVA - Safety Manual 1 A. Overview 3 B. Risk Assessment 5 C. Protective Features 11 D. Electrical Safety 22 E. Maintenance 23 F.
A. Overview On its own, Eva is considered partly completed machinery and is supplied with a Declaration of Incorporation (DOI). The robot is essentially a component part of your application (i.e. the completed machine). Why? Like most industrial robots, Eva can be used in a wide range of applications. What might be considered safe for one machine, may not be safe for another.
It is never acceptable to use Eva when: 1. 2. 3. 4. 5. 6. There is a risk of explosion. The work being done is medical, life critical or life threatening. The robot will be part of a system that elevates or transports people. A full risk assessment has not been completed. The performance ratings required are higher than those in the robot’s documentation (see Technical Reference Manual).
B. Risk Assessment You must complete a risk assessment every time you change the robot’s environment or the work it will do. Performing a risk assessment is about identifying and documenting the risks associated with your application as well as the measures you have used to reduce those risks to acceptable levels. It’s important to think about every part of the application and the environment, like obstacles, tools and other machinery in the area.
Example Risks Some hazards are very common with robots, for example: 1. 2. 3. 4. 5. 6. 7.
. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. general tool use, and access to the risk assessment as a minimum. Appropriate Personal Protective Equipment (PPE) must also be provided Machine operators should be appropriately trained or supervised by a trained individual following risk assessment.
20. 21. 22. 23. 24. 25. 8 risk of injury as a result of projectiles (e.g. end effector coming loose, objects under manipulation being thrown, etc.
Human Robot Collaboration There has been a rising trend of small industrial robots classified as “cobots”. But what does this mean? And can I use Eva for collaborative operations? Generally speaking, cobots are industrial robots designed to work safely with humans. To achieve this, they will usually employ some of the collaborative techniques described within ISO/TS 15066. It’s important to note that this is only a technical specification, not a fully fledged standard.
NOTE: Eva does not provide Power and Force Limiting as described in ISO/TS 15066. It may be possible to operate the robot around people as a collaborative operation. This will depend on the outcome of your risk assessment. If however, you have determined that other collaborative techniques are necessary to render your collaborative operation safe, then you may need to consider other options: • • • Can you integrate third party sensors (e.g. light curtains, interlocks, physical barriers, etc.
C. Protective Features Emergency Stop Eva is supplied with a Stop Category 0 emergency interface and emergency stop button. Immediately after the emergency stop has been triggered, electrical power to the robot actuators, base I/O and tool I/O is cut and the brakes in each joint are engaged, resulting in a sudden stop. This is likely to result in one or more of the robot joints dropping slightly due to the force of gravity. Be aware of the risk of collision or pinching.
The emergency stop is rated to PLc, Structure Category 1 as per ISO 13849. This performance level was deemed to be adequate for the majority of expected applications.
If a performance level higher than PLc is deemed necessary for a particular application, we recommend placing the contacts of a safety relay or controller in-line with the robot’s supply to cut the power in the event of an emergency. Care must be taken to ensure that there is no confusion between the emergency stop circuit native to the robot (rated to PLc) and the new emergency stop circuit that has been placed in line with the supply (rated >PLc). Under worst case conditions (i.e.
The emergency stop button is intended for halting robot movement in an emergency only. Over use of the emergency stop - particularly when the robot is moving - is likely to significantly reduce the life of the robot actuators leading to premature failure. Follow the shut down procedures in the Technical Reference Manual for further guidance. Connector and pinout information for the emergency stop port can be found in the Technical Reference Manual.
The protective stop is rated to PLc, Structure Category 1 as per ISO 13849. This performance level was deemed to be adequate for the majority of expected applications. To determine whether PLc is appropriate for your use case, refer to the diagram under the emergency stop description. The protective stop port is intended to interface with volt-free contacts, such as a switch, interlock or a safety-relay. The port is not yet compatible with Output Signal Switching Devices (OSSD).
Manual Brake Release As long as no power is being supplied to the robot actuators, the brakes will be engaged automatically. However, in some emergency situations it may be necessary to move the robot joints without power. This can be achieved using the manual brake release tool. NOTE: A manual brake release can only be performed on axes 2, 3 and 5. To move the joints without power: 1. 2. 3. Disconnect all source of power from the robot.
Operating Modes Teach Mode Teach mode is to be used for manual operations, such as setting and testing toolpaths. When in teach mode, the TCP speed is limited to 250 mm/s. Toolpaths with a TCP speed higher than 250 mm/s will be capped when run in teach mode. Backdriving is only possible when the robot is in teach mode, the lock is obtained and the backdriving button is held down. In order to maintain the lock, Choreograph must remain within the active tab of the browser.
More information on robot operating modes can be found in the Technical Reference Manual. Speed Limits The robot’s tool centre point (TCP) can reach a maximum speed of 1500 mm/second. For manual operations (humans nearby), it is recommended that the TCP speed does not exceed 250 mm/s.
See the diagram below for examples.
Joint Limits The joint limits are set as follows: Axis 1: Resisted by a software limits at -179.0°, +179.0°. Axis 2: Mechanically prevented from exceeding -155.0°, +70.0°. Axis 3: Mechanically prevented from exceeding -160.0°, +45.0°. Axis 4: Resisted by a software limits at -179.0°, +179.0°. Axis 5: Mechanically prevented from exceeding -155.0°, +10.0°. Axis 6: Resisted by a software limits at -179.0°, +179.0°.
NOTE: Axes 1, 4 and 6 have no mechanical limits (software only). The software limits are not safety-rated and cannot be adjusted in Choreograph. The mechanical limits on axes 2, 3 and 5 are nonadjustable. For applications where safety-rated joint limits are required - e.g. to prevent collision - third-party sensors or physical barriers are recommended.
D. Electrical Safety Eva’s electrical equipment has been designed and developed in accordance with IEC 60204-1. The following instructions should be followed in order to maintain electrical safety: 1. 2. 3. 4. 5. 6. 7. 22 The robot is supplied with a Class II power supply. As such, a protective earth connection is not required. Eva is rated to IP20. Ensure that all equipment in your system not rated for water exposure (including the robot) remains dry.
E. Maintenance Do not make unauthorised modifications to the robot. Non-qualified personnel are strictly prohibited from attempting to carry out repairs on Eva. In the event of malfunction, disconnect the robot from power and contact your supplier.
F. Disposal EU Waste Electrical and Electronic Equipment (WEEE) Directive In August 2005, the European Union implemented the EU WEEE Directive 2002/96/EC and later the WEEE Recast Directive 2012/19/EU, requiring producers of electronic and electrical equipment to manage and finance the collection, reuse, recycling and to appropriately treat WEEE that the producer places on the EU market after August 13, 2005.
If you have purchased Automata products in the EU and are intending to discard these products at the end of their useful life, please do not dispose of them with your other household or municipal waste. Automata has labelled its branded electronic products with the WEEE Symbol to alert our customers that products bearing this label should not be disposed of in a landfill or with municipal or household waste in the EU.
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