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S900–II USER MANUAL

Version 2.1 |–>

I – Presentation

01T01518_1

25.11.99

I – 2. Safety devices

I – 2. 1. Use

The robot must only be used on an injection machine in a safe environment. Safeguards must be

installed for a part to be removed from the inside of the IMM : these safeguards limit access to the

work area. Access for operations such as maintenance or part manipulation by operators must only

be carried out after a shut–down procedure or following a special safeguard conception.

Warning

: A robot which is immobile is not stopped.

A robot which is stopped is not shut–down.

I – 2. 2. Work areas

The cams and the sensors placed on the 3 axes, demarcate the work areas in which the robot can safely

move in automatic mode.

AREA 1 : Robot arm up area in which the robot can move when the machine is in motion.

AREA 2 : Robot arm free area in which the robot can descend when the machine is in motion. The

Tool Change Position (PCO) is generally in this area.

AREA 3 : Robot outside mould area in which the robot can descend even if the Mould Open (MO)

information is not present.

The out of mould area cam (ZHM) defines the approach stroke that is possible for the robot in the

machine axis whilst waiting for the mould to open. After having taken the part from the mould, the

IMM closing is validated as soon as the arm moves into the “out of mould area” (ZHM).

AREA 4 : Robot in machine axis area in which the robot can only descend if the Mould Open

information (MO) is present. A safety stop is activated if the Mould Open information (MO) is lost

before arriving at the Out of Mould Area (ZHM) or Arm up area (BH). (See “Anticipated restart” in

the “Programming Level 1” Manual).

WARNING ! In Adjust mode :

. the robot no longer acknowledges these areas; it is the operator who is

responsible,

. only the safety stop devices stay active (hitting the emergency stop,

IMM gate closed (PF), overtravel).

AREA 1

AREA 3

AREA 2

ARM FREE AREA MACHINE AXIS (marked on the beam by )

ARM

AREA 4

OUTSIDE MOULD area

Figure 3 : Safety areas

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