mechanical robot It contains important information regarding integration, programming, understanding and debugging.
Mechanical robot
1.1 Introduction
This manual is intended for the integrator. It contains important information regardingintegration, programming, understanding and debugging.
Abbreviations used in this document are explained below.Abbreviation MeaningUR Universal RobotsCB Controller BoxIMM Injection Moulding MachineMAF Moulding Area FreeA, B, C, ZA, ZB and ZC Signals inside euromap67 cable
WARNING: An IMM can use up to 250V on some of its signals. Do not connectan IMM to the euromap67 interface if it is not properly installed in a controllerbox; including all mandatory ground connections.NOTE: Euromap67 is only supported on controller boxes produced after medioMarch 2011.
1.1.1 Euromap67 standard
The euromap67 standard is free of charge and can be downloaded from www.euromap.org. The UR euromap67 module conforms to all demands in this standardwhen it is powered up. When it is powered down the euromap67 standardspecifies that every safety related signal shall be operative. This may cause hazardoussituations and contradicts the safety specifications of ISO 13849-1 andEN ISO 13849-1. Therefore, the UR euromap67 module opens the emergencystop signals, MAF signals and all I/O signals when the controller box is poweredoff.All optional,manufacturer dependent and reserved I/O signals are supported.Interfacing according to euromap67.1 is also possible
1.1.2 CEThe UR euromap67 interface is part of the internal circuitry of the UR controllerbox, and it can only be purchased in conjunction with a UR controller box. TheUR euromap67 interface is therefore falling under the Declaration of Incorporation,which is found in the user manual of the robot.The interface is constructed with the same components and principles, andunder the same test requirements, as the controller box. Therefore, it does notadd any changes to the Declaration of Incorporation of the robot.The safety functions are PLd, category 3, conforming to ISO 13849-1 and ENISO 13849-1.1.2 Robot and IMM integrationThe following subsections contain important information for the integrator.1.2.1 Emergency stop and safeguard stopThe emergency stop signals are shared between the robot and the IMM. Thismeans that a robot emergency stop also emergency stop the IMM and viceversa.The safeguard stop signals (Safety devices [ZA3-ZC3][ZA4-ZC4]) ensuresthat the robot is safeguard stopped when a door on the IMM is open. Notethat it is not a part of the euromap67 standard to stop the IMM if the robot issafeguard stopped. This means that if an operator enters the workspace of therobot then he must not be able to reach into the IMM without causing a safestop condition.If a safety device shall safeguard stop both the robot and the IMM thenconnect it to the IMM.NOTE: The special ”external emergency stop” input [EEA-EEB] can be used toconnect the robot to a third machine. If so, only the robot will emergency stopif an emergency stop button is pushed on the third machine, not the IMM!NOTE: Always verify the functionality of safety related functions.
1.2.2 Connecting a MAF light guardThe MAF signal [A3-C3] in the euromap67 cable enables the powerful movementof the mould. Care must be taken to prevent the mould from closingwhen the robot is inside the machine.1.2. ROBOT AND IMM INTEGRATION 7The euromap67 interface is supplied without a MAF light guard. This meansthat an error in the robot program could cause the IMM mould to close andcrush the robot. However, it is possible to connect a light guard as shown belowto prevent these accidents. A category 1 light curtain can be purchased for afew hundred Euro (e.g. the BPCX series from Infra).
mechanical robot for assembly
