Scribd Logo
Upload

Welcome to Scribd!

  • 351 views

    Hardware Faults: Stäubli Corporation

    Uploaded by

    Julio Liranzo
    Beginning with version 6.8, Staubli robot systems require the use of dual channel emergency stop circuits to comply with safety standards. If only one channel of the emergency stop circuit opens, it will trigger a hardware safety fault that removes arm power. To clear the fault, the user must correct the issue, test the repair by opening both emergency stop channels simultaneously, and acknowledge the repair on the control panel.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Hardware Faults: Stäubli Corporation

    Uploaded by

    Julio Liranzo
    351 views3 pages
    Beginning with version 6.8, Staubli robot systems require the use of dual channel emergency stop circuits to comply with safety standards. If only one channel of the emergency stop circuit opens, it will trigger a hardware safety fault that removes arm power. To clear the fault, the user must correct the issue, test the repair by opening both emergency stop channels simultaneously, and acknowledge the repair on the control panel.

    Original Title

    2010-49 Hardware Faults

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Beginning with version 6.8, Staubli robot systems require the use of dual channel emergency stop circuits to comply with safety standards. If only one channel of the emergency stop circuit opens, it will trigger a hardware safety fault that removes arm power. To clear the fault, the user must correct the issue, test the repair by opening both emergency stop channels simultaneously, and acknowledge the repair on the control panel.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    351 views3 pages

    Hardware Faults: Stäubli Corporation

    Uploaded by

    Julio Liranzo
    Beginning with version 6.8, Staubli robot systems require the use of dual channel emergency stop circuits to comply with safety standards. If only one channel of the emergency stop circuit opens, it will trigger a hardware safety fault that removes arm power. To clear the fault, the user must correct the issue, test the repair by opening both emergency stop channels simultaneously, and acknowledge the repair on the control panel.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 3

    Hardware Faults 49

    DUNCAN 11-Feb-10

    Starting with VAL3 version 6.8 the use of category 3 dual channel e-stops is mandatory
    on Staubli robot systems. Prior to this version customers could use Category 1 single channel
    e-stops if their risk analysis allowed. This change brings our system into compliance with
    current safety standards. This is enforced through a hardware safety fault which can be viewed
    in our control panel under controller status. As long as both e-stop channels open at the same
    time, there will not be a safety hardware fault.

    If only a single channel opens in the e-stop circuit, this is will remove arm power and a
    hardware safety fault will be declared. Below is a hardware safety fault on the working mode
    panel e-stop switch.

    1/3
    Stäubli Corporation Tel +1 (864) 433-1980
    201 PARKWAY WEST Fax +1 (864) 486-5496
    P.O. BOX 189
    DUNCAN, S.C. 29334 USA www.staubli.com
    Hardware Faults 49
    DUNCAN 11-Feb-10

    Pressing the info button, F8, will give an explanation.

    Once there is a hardware safety fault in the system you will not be able to enable arm
    power. You will still have a hardware safety fault even after rebooting the controller.

    You must correct the problem then test the faulty hardware. In this case you must open
    both WMS e-stop channels at the same time to test your repair.

    2/3
    Stäubli Corporation Tel +1 (864) 433-1980
    201 PARKWAY WEST Fax +1 (864) 486-5496
    P.O. BOX 189
    DUNCAN, S.C. 29334 USA www.staubli.com
    Hardware Faults 49
    DUNCAN 11-Feb-10

    After the repair has been tested you will need to acknowledge the repair has been
    made by going to the error on the control panel and pressing Ack, F8. Now you will be able to
    enable arm power.

    In the error log you will entries like those below for a safety fault, its repair, and its
    acknowledgement.

    [FEB 11 2010 15:26:59]: Emergency stop chain miss wired for signal WMSES2
    [FEB 11 2010 15:27:21]: Emergency signal WMSES2 has been repaired.
    [FEB 11 2010 15:27:27]: Emergency signal WMSES2 has been acknowledged.

    With this change, device like pneumatic break away devices and light curtains which
    have single channel outputs must use a safety relay to meet Category 3 standards.

    3/3
    Stäubli Corporation Tel +1 (864) 433-1980
    201 PARKWAY WEST Fax +1 (864) 486-5496
    P.O. BOX 189
    DUNCAN, S.C. 29334 USA www.staubli.com

    You might also like