KONGSBERG RSER200-4船舶工控模塊
?在機器人的危險區(qū)域內(nèi)進行作業(yè)時如果絕對必要，后者最多只能以手動橫移速度操作必須及時通知機器人環(huán)境中的所有人員機器人即將移動。?在可能的情況下，任何時候都只能有一個人在機器人的危險區(qū)域工作在傳感器輔助操作中，如果控制柜上的主開關(guān)沒有轉(zhuǎn)到“OFF”位置，機器人很容易執(zhí)行意外移動和路徑修正。?必須適當注意機器人外圍系統(tǒng)組件造成的危險，例如多機器人系統(tǒng)中的抓取器、輸送機、進給裝置或其他機器人不允許對機器人系統(tǒng)進行任何未經(jīng)授權(quán)的改裝或修改。?奇異點是機器人無法使用笛卡爾遍歷移動的點。在這些點的附近，受影響的軸受到極端加速度的影響。這將導致控制器停止機器人運動并生成錯誤消息一些機器人類型配有液壓氣動或機械平衡系統(tǒng)液壓氣動平衡系統(tǒng)的工作只能由具有液壓和氣動系統(tǒng)專業(yè)知識和經(jīng)驗的人員進行。?如果要在平衡系統(tǒng)上進行工作，必須固定這些系統(tǒng)輔助的機器人部件，使其無法移動。電機繞組中的溫度傳感器可防止電機過載。?電機在運行過程中達到溫度，可能導致皮膚燒傷。必須采取適當?shù)陌踩A防措施監(jiān)控控制柜內(nèi)的溫度（內(nèi)部溫度）。如果超出規(guī)定的限制，控制器將關(guān)閉。
?慢跑模式（死人功能）。
所有程序都可以在測試模式下以降低的速度手動執(zhí)行。然而，只有按住“開始”鍵，程序才能執(zhí)行。如果松開“開始”鍵，機器人將停止。只有再次按“開始”鍵才能繼續(xù)程序。?發(fā)生故障后，機器人可以通過主軸驅(qū)動電機移動，根據(jù)機器人類型，在某些情況下也可以通過腕軸驅(qū)動電機移動。它僅用于緊急情況僅當機器人控制柜關(guān)閉時，才能使用釋放裝置。?如果使用釋放裝置移動機器人軸，則必須重新固定所有機器人軸。必須更換相關(guān)電機。釋放裝置（帶12號套筒扳手套頭的可逆棘輪）被推到電機軸上（拆下保護帽），然后可以轉(zhuǎn)動電機軸。有必要克服機械電機制動器的阻力和作用在軸上的任何其他負載工作區(qū)應限制在必要的最小尺寸。在任何情況下，人員或設備均不得暴露于任何危險中。?危險區(qū)域必須通過保護屏障進行保護，并通過地板上的油漆標記進行指示安全柵欄必須足夠高，以防任何人越過。必須采取設計措施防止彎曲。入口數(shù)量必須保持在最低限度。所有入口必須連接到整個緊急停止系統(tǒng)！閘門上的操作員安全，安全圍欄上的緊急停止。
? 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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PLC可編程控制器模塊，DCS卡件，ESD系統(tǒng)卡件，振動監(jiān)測系統(tǒng)卡件，汽輪機控制系統(tǒng)模塊，燃氣發(fā)電機備件等，優(yōu)勢品牌：Allen Bradley、BentlyNevada、ABB、Emerson Ovation、Honeywell DCS、Rockwell ICS Triplex、FOXBORO、Schneider PLC、GE Fanuc、Motorola、HIMA、TRICONEX、Prosoft等各種進口工業(yè)零部件、歐美進口模塊。
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