Technique for Allowing Safe Penetration of Robot Work Envelope With Power on
Original Publication Date: 1985-Mar-01
Included in the Prior Art Database: 2005-Feb-18
The work envelope of a robot may be entered while the manipulator power is on through interrupting the work in process at selected locations and then continuing the work in process without having to rework or scrap the part. When an operator wishes to enter a work envelope of a robot, the operator moves a selector switch (one is mounted at each entry to the work envelope, such as a door, for example) from its RUN position to its HALT position. When the program for the robot acknowledges the request, a light, which is mounted in the selector switch box, for example, is illuminated. This indicates that the robot has ceased to perform any further functions at this time but it still has the manipulator power to activate it. When the light is illuminated, entry may be made into the work envelope.