2.4 Risk Assessment Exposure When High Power is on, all personnel must be kept out of the robot workcell by interlocked perimeter barriers. It is up to the customer to determine if teaching the robot in Manual Mode, by a skilled programmer (see Qualification of Personnel on page 21), wearing safety equipment and carrying a pendant, is allowable under local regulations. Severity of Injury Provided that skilled personnel who enter the robot workcell are wearing protective headgear, eyeglasses, and safety shoes, it is likely that injuries caused by the robot would be slight (nor- mally reversible). The risk of severe injury increases as the size of the robot and payload increase.
Avoidance If the customer determines that teaching the robot in Manual Mode is allowable, the pro- grammer must always carry the pendant when inside the workcell, as the pendant provides both E-Stop and Enabling switch functions. For normal operation (AUTO mode), user-supplied interlocked guarding must be installed to prevent any person entering the workcell while High Power is on. ! DANGER: PERSONAL INJURY RISK. The robot system must be installed with user-supplied interlock barriers. The interlocked barriers must open the E-Stop circuit in the event of personnel attempting to enter the workcell when High Power is enabled.
Failure to install suitable guarding or interlocks could result in injury or death. The following circuits are all dual channel, and classified as category 3, PL-d: l Front panel l T20 Pendant l Safety door (mute gate) l External (user or line) E-Stop The Risk Assessment for teaching an OMRON robot depends on the application. If the cus- tomer determines that teaching the robot in Manual Mode is allowable, the programmer may need to enter the robot workcell while High Power is enabled. Other programming methods can be used so that the programmer does not have to enter the workcell while High Power is on. Examples of alternative methods of programming include:
l Programming from outside the safety barrier l Programming with High Power off l Copying a program from another (master) robot l Off-line or CAD programming 14 Robot Safety Guide 18304-000 Rev. F