Product manual

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PIB-M2001_eng.fm

6.11.3 Machine Safety - Collision Sensor

The PIB is designed to be used with a welding gun with collision sensor.

In normal status the sensor is to supply 24V DC to the PIB input TB6.2.

The collision sensor controls the Run Chain relay in the PIB. The relay is of the

two-pole type and is integrated in the general stop chain (G-stop) of the robot. In

normal status the relay is active.

When the collision sensor is activated the Run Chain relay opens, resulting in

opened G-stop chain, leading to quick-stop of the motion due to the fact that the

robot goes from operation mode to stand-by mode. The error message G-stop

comes up on the robot programming unit. The message remains until it has been

acknowledged by way of the OK button.

To enable putting the robot into operation again the G-stop chain must first be

closed.

If the gun has occasionally been out of position but has sprung back again, the G-

stop chain closes and the robot is fit for use again.

If the gun remains in the wrong position, for example after having collided with the

weld object, the fixture, etc., the robot must be moved in order to make the gun

spring back. On the front of the ABB wire feed units A-314 there is a spring-back

push-button (reset) for this purpose.

Reset Function

When the collision sensor is reset the PIB microprocessor activates the Run Chain

relay and closes the G-stop chain. It is then possible to put the robot into service

again, by using the robot joystick to manoeuvre the robot to make the gun spring

back, resetting the collision sensor in closed position. The reset function is auto-

matically acknowledged.

The start of the running of the program is blocked until acknowledged. Trying to

start before acknowledgement will result in the Run Chain relay opening and the

G-stop chain breaking. The reset procedure must then be repeated.

To prevent the PIB remaining in the reset function - due to circuit interruption, for

example - and to ensure that a further collision will stop the robot, the reset time is

limited to 1 minute. After that the G-stop is interrupted again and the reset proce-

dure must be repeated.

What is said above applies both to manual running of the robot and to running by

way of the program. When running the robot by way of the program there appears

an additional error message, expressly indicating that the collision sensor has been

activated.