Safety Requirements Application Notes
The safety prescriptions according to the DASY manual (Chapter 11 System Description and
Setup, Chapter 3 Robot, Chapter 13 Connection and Use of Safeguarding Equipment), according
to the robot manual [1] and according to the safety light curtain [3] have to be followed strictly.
Safety distances
The safety distances are dependent on the robot type and the type of the safeguarding e quipment
installed. Using equipment B1 or B2 described in [3], the safety distances calculated according to
[2] apply.
Safety distances between the safeguarding equipment and the most dangerous part of the robot
(DAE) are calculated for the following combinations:
A1 + B1 570 mm
A2 + B1 1090 mm
A3 + B1 1320 mm
A1 + B2 1250 mm
A2 + B2 1770 mm
A3 + B2 2000 mm
The respective curtain must switch off the system if it is interrupted. The installation must follow
the conditions given in [3].
Further distances are applicable for the installation of the equipment: Distance from the wall
according to Chapter 11 System Description and Setup.
DANGER: Compared to previous versions of the DASY system, with the
DASY5 system, robot movements can be faster, sometimes unpredictable for
the observer. In SAR and HAC measurements, the robot hand may move
outside the phantom outline. Access to the robot arm within the safety
distances is therefore strictly forbidden during automatic operation.
Signal lamps
The signal lamps must be well visible to allow clear indication of the system safety s tatus. The
signal lamps are controlled by the PC software. They are not active if the robot is operated in a
special configuration without the measurement server. The colors have the following meanings:
• Red: Danger, automatic operation, no presence within the safety distances allowed.
• Blue: Caution, manual operation, presence in the vicinity of the robot only using the teach
pendant with the dead-man-switch activated.
• Green: Safe, no remote operation possible. Robot arm brakes are activated.
Note: The green LED indicators on the front of the robot controller and the measure-
ment server do NOT indicate that the system is safe.
Schmid & Partner Engineering AG, DASY5 Manual, February 2007 12-3
(248 paginas)
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