Installation Of External Enabling Device - ABB IRC5 Product Manual

2.9.3 Installation of external enabling device

Overview
IRC5 is delivered with one enabling device but have the possibility to connect one
additional external enabling device (cannot be ordered from ABB Robotics).
When an external enabling device is used together with the three-position enabling
device on the teach pendant, both enabling devices must be enabled to be able
to operate the manipulator in manual mode.
Connecting the external enabling device
The external enabling device must be connected to the panel board connector X6
pin 7-10 as shown in the figure below.
xx1500000534
The enabling device chain is enabled if X6 pin 7 is short circuited with X6 pin 8 at
the same time as X6 pin 9 is short circuited with X6 pin 10.
Requirement on the external enabling device
The external enabling device connected to IRC5 must have the following
characteristics:
Product manual - IRC5 Panel Mounted Controller
3HAC047137-001 Revision: J
IRC5
Panel board (A21)
Connector X6
X6.7 (EN1_1A)
X6.9 (EN2_1B)
X6.10 (EN2_1A)
X6.8 (EN1_1B)
• Redundant channels.
• Three-position enabling device. When the enabling device is pressed to the
center position the enabling device chain must be enabled. When the enabling
device is released or pressed to third position, the enabling device chain
must be disabled.
• The enabling device must have a B10 value of at least 100000 cycles (less
than 10% chance of failure before 100000 cycles).
• The mean time to dangerous failure (MTTF
must be high enough to ensure that the external enabling device together
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2 Installation and commissioning
2.9.3 Installation of external enabling device
External enabling
device
) of the external enabling device
d
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