Chapter 2: Safety 2.3 What to Do in an Emergency or Abnormal Situation Press any E-Stop button (a red push-button on a yellow background) and then follow the internal procedures of your company or organization for an emergency or abnormal situation. If a fire occurs, use CO 2 to extinguish the fire. In case of an emergency or abnormal situation, the inner and outer robot arms can be manu- ally moved without high power. However, only qualified personnel who have read and under- stood this User's Guide and Robot Safety Guide should manually move the robot into a safe state. Joint 3 is held by a brake, which can only be released with an optional brake box attached to the BRAKE connector.
This requires 24 V power to the robot. 2.4 Customer Responsibilities To achieve full compliance with ISO-10218, the customer will need to add their own: l E-Stop button The circuits for this are shown in Figure 9-5. l High Power enable button The circuit for this is shown in Figure 9-6. l Automatic/Manual switch The circuit for this is shown in Figure 9-6. l Brake-release button This needs to be within the robot workcell. You can wire this to the eMB-40M BRAKE input for this function. Refer to Brake Release Connector on page 30. The customer will also need to add their own High Power lamp l This is an amber or yellow lamp (5 V LED) that is on whenever high power is supplied to the robot.
l This must be either on the robot or within the workcell. l The circuit for this is shown in Figure 9-5. and Figure 9-6. 2.5 Robot Behavior Hardstops If the Cobra 450, 500, or 650 runs into one of its hardstops, the robot’s motion will stop com- pletely, an envelope error will be generated, and power will be cut to the robot motors. The robot cannot continue to move after hitting a hardstop until the error has been cleared. The Cobra 450, 500, and 650’s hardstops are capable of stopping the robot at any speed, load, and maximum or minimum extension. 19148-000 Rev. E Cobra 450, 500, and 650 User's Guide 17