2.3. Safety Information for Physical Robots

This chapter applies to every setup in which the voraus.core moves a physical robot. It does not apply to a virtual instance of the voraus.core.

The voraus.core moves the robot without an enabling switch and without reduced speed. This applies to every way of moving the robot via the voraus.core:

  • Jogging and moving to poses in the voraus.operator or the voraus Robot UI

  • Running programs in the voraus.operator or the voraus Robot UI

  • Python applications using the API of the voraus.core

Warning

Risk of serious injury due to robot movements without enabling switch!

The robot moves like in automatic operation, even during commissioning, teaching, and jogging via the voraus.operator or the voraus Robot UI. A person inside the safeguarded space cannot stop the robot by releasing an enabling switch.

  • Before moving the robot via the voraus.core, ensure that all safety functions of the robot cell are active and working, e.g., safety fence, interlocked doors, light curtains, and emergency stop.

  • Ensure that no person is inside the safeguarded space of the robot while the voraus.core controls the robot. This also applies to commissioning and jogging.

  • Operate the voraus.operator or the voraus Robot UI from outside the safeguarded space only.

  • Ensure that an emergency stop device is within reach of the person operating the voraus.operator or the voraus Robot UI.

  • Ensure that the risk assessment of the robot application covers the control of the robot via the voraus.core.

2.3.1. Notes per Robot Controller

The FANUC controller must be in the operating mode AUTO, see Switching to the Right Operating Mode.

To limit the robot speed according to EN ISO 10218-1 during teaching, an emulated T1 mode (ET1) can be configured in the FANUC safety system as described in the same section. ET1 limits the speed, but it does not allow persons inside the safeguarded space. The warning above applies without restriction.

The KUKA controller must be in the operating mode AUT or EXT, see Configuration of Automatic External (AUT EXT).

The Yaskawa controller must be in the operating mode Automatic (Play).