Hyundai HI4 - Manual (Page 19)

1. Safety, Operation Panel, Teach Pendant (1) Safety
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1.1.5. Definition of Safety Functions
Emergency Stop Function- IEC 204-1,10,7
There is one emergency stop button on the controller and another on the teach pendant.
If necessary, additional emergency buttons can be connected to the robot's safety
chain circuit. The emergency stop function, which overrides all other robot controls,
removes drive power from robot axis actuators, stop all moving parts and disconnect
power in order not to use other dangerous functions controlled by the robot.
Safety Stop Function-ISO 10218(EN 775), 6.4.3
When a safety stop circuit is provided, each robot must be delivered with the
necessary connections for the safeguards and interlocks associated with this circuit.
The robot has a number of electrical inputs which can be used to connect external
safety equipment, such as safety gates and light curtains. This allows the robot's
safety functions to be activated both by peripheral equipment and by the robot itself.
Speed Limitation Function-ISO 10218(EN 775), 3.2.17
In manual mode, the speed of robot is strictly limited to 250 mm per second as a
maximum. The speed limitation applies not only to the TCP(Tool Center Point), but
to all parts of robot. The speed of equipment mounted on the robot can be monitored.
Working Envelope Restriction- ANSI/RIA R15.06-1999
The working envelop of each robot axes can be restricted using software limits. Axis
1,2,3 can also be restricted by means of mechanical stops.
Operation Mode Selection- ANSI/RIA R15.06-1999
The robot can be operated either manually or automatically. In manual mode, the robot
can be operated by using the teach pendant only, i. e. not by any external equipment.