Hyundai HI4 User Manual
Page 39
1. Safety, Operation Panel, Teach Pendant (1) Safety
------------------------------------------------------------------------------------------------
--------------------------------------------------------------------------------
1 - 27
1.1.10.3. Operating Speed
To program the robot, the operating mode switch must be turned to MANUAL position.
Then the maximum velocity of robot is limited to 250mm/s.
1.1.10.4. Connection of Safety Device
External safety devices such as light, curtains, light beams or sensitive mats which
can be adapted by the system builder execute interlocking the Controller by way of
connecting with safety chain of operation within the Controller. The above devices
are used for safety device during execution of normal program in automatic mode.
1.1.10.5 Limitation of Working Envelope
When robot is not necessary to reach certain area for specific applications, working
envelope of the robot can be limited to secure the sufficient safety working area.
This will reduce the damage or loss in case of robot's collision with external safety
arrangement such as safety fence, etc.
Movement about axes 1, 2 and 3 can be limited with adjustable mechanical stops or
by means of electrical limit switches. If working space is limited by means of stops
or switches, the corresponding software limitation parameters must also be changed.
If necessary, movement of the three wrist axis can also be limited by the central
processing unit. Limitation of working envelope for all the axes must be carried out
by the user. Hyundai Robot is delivered to customer as the status of full working
envelope setting.
Manual mode : Maximum speed is 250mm/s
The manual mode must be selected whenever anyone
enters the robot's safeguarded space.
Auto mode : The robot can be operated via a remove control device.
All safety equipments such as safety gates, safety mats,
etc., are active. No one can enter the robot's safeguarded
space.