KONGSBERG RSER200-4船舶工控模块
•在机器人的危险区域内进行作业时如果绝对必要，后者最多只能以手动横移速度操作必须及时通知机器人环境中的所有人员机器人即将移动。•在可能的情况下，任何时候都只能有一个人在机器人的危险区域工作在传感器辅助操作中，如果控制柜上的主开关没有转到“OFF”位置，机器人很容易执行意外移动和路径修正。•必须适当注意机器人外围系统组件造成的危险，例如多机器人系统中的抓取器、输送机、进给装置或其他机器人不允许对机器人系统进行任何未经授权的改装或修改。•奇异点是机器人无法使用笛卡尔遍历移动的点。在这些点的附近，受影响的轴受到极端加速度的影响。这将导致控制器停止机器人运动并生成错误消息一些机器人类型配有液压气动或机械平衡系统液压气动平衡系统的工作只能由具有液压和气动系统专业知识和经验的人员进行。•如果要在平衡系统上进行工作，必须固定这些系统辅助的机器人部件，使其无法移动。电机绕组中的温度传感器可防止电机过载。•电机在运行过程中达到温度，可能导致皮肤烧伤。必须采取适当的安全预防措施监控控制柜内的温度（内部温度）。如果超出规定的限制，控制器将关闭。
•慢跑模式（死人功能）。
所有程序都可以在测试模式下以降低的速度手动执行。然而，只有按住“开始”键，程序才能执行。如果松开“开始”键，机器人将停止。只有再次按“开始”键才能继续程序。•发生故障后，机器人可以通过主轴驱动电机移动，根据机器人类型，在某些情况下也可以通过腕轴驱动电机移动。它仅用于紧急情况仅当机器人控制柜关闭时，才能使用释放装置。•如果使用释放装置移动机器人轴，则必须重新固定所有机器人轴。必须更换相关电机。释放装置（带12号套筒扳手套头的可逆棘轮）被推到电机轴上（拆下保护帽），然后可以转动电机轴。有必要克服机械电机制动器的阻力和作用在轴上的任何其他负载工作区应限制在必要的最小尺寸。在任何情况下，人员或设备均不得暴露于任何危险中。•危险区域必须通过保护屏障进行保护，并通过地板上的油漆标记进行指示安全栅栏必须足够高，以防任何人越过。必须采取设计措施防止弯曲。入口数量必须保持在最低限度。所有入口必须连接到整个紧急停止系统！闸门上的操作员安全，安全围栏上的紧急停止。
• When work is carried out in the danger zone of the robot
the latter may only, if absolutely essential, be operated at manual traversing speed at the most. • All persons situated in the environment of the robot must be informed in good time that the robot is about to move. • Wherever possible, only one person should work in the danger zone of the robot at any time.• In sensor-assisted operation, the robot is liable to perform unexpected movements and path corrections if the main switch on the control cabinet has not been turned to “OFF”. • Due regard must be paid to hazards posed by the peripheral system components of the robot such as grippers, conveyors, feed devices or other robots in a multi-robot system. • Any unauthorized conversion or modification of the robot system is not allowed.• Singularities are points through which the robot cannot be moved using Cartesian traversing. In the immediate vicinity of these points, the affected axes are subjected to extreme acceleration. This results in the robot motion being stopped by the controller and the generation of an error message.• Some robot types are equipped with a hydropneumatic or mechanical counterbalancing system. • Work on the hydropneumatic counterbalancing system may only be carried out by persons having special knowledge and experience of hydraulic and pneumatic systems. • If work is to be carried out on the counterbalancing systems, the parts of the robot assisted by these systems must be secured so that they are unable to move.The motors are protected against overload by means of temperature sensors in the motor windings. • The motors reach temperatures during operation which can cause burns to the skin. Appropriate safety precautions must be taken. • The temperatures inside the control cabinet (internal temperature) are monitored. The controller is switched off if defined limits are exceeded.
• Jog mode (deadman function).
All programs can be executed manually in the test modes at reduced velocity. However, program execution is only possible as long as the “Start” key is held down. If the “Start” key is released, the robot stops. The program can only be continued by pressing the “Start” key again.• The robot can be moved after a malfunction via the main axis drive motors and, depending on the type of robot, also via the wrist axis drive motors in some instances. It is only intended for use in emergencies. • The release device may only be used if the robot control cabinet has been switched off. • If a robot axis has been moved using the release device, all robot axes must be remastered. The motor concerned must be exchanged.The release device (reversible ratchet with size 12 socket wrench insert) is pushed onto the axle of the motor (remove protective cap), which can then be turned. It is necessary to overcome the resistance of the mechanical motor brake and any other loads acting on the axis.• Working zones are to be restricted to the necessary minimum size. On no account may persons or equipment be exposed to any danger. • The danger zones must be safeguarded by means of protective barriers and indicated by means of paint markings on the floor. • The safety fences must be high enough to prevent anybody from reaching over them. Design measures must be taken to prevent them from bending. The number of entrances must be kept to a minimum. All entrances must be connected to the overall EMERGENCY STOP system ! operator safety on the gate, Emergency Stop on the safety fencing.
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