1.2.4 Safety actions1.2.4.1 Safety fence dimensionsGeneralInstall a safety cell around the manipulator to ensure safe manipulator installationand operation.DimensioningDimension the fence or enclosure to enable it to withstand the force created if theload being handled by the manipulator is dropped or released at maximum speed.Determine the maximum speed from the maximum velocities of the manipulatoraxes and from the position at which the manipulator is working in the work cell(see the section Robot motion in the Product specification).Also consider the maximum possible impact caused by a breaking or malfunctioningrotating tool or other device fitted to the manipulator.3HAC044266-001 Revision: - 27© Copyright 2013 ABB. All rights reserved.1 Safety1.2.4.1 Safety fence dimensions
