Robot system safety method

Claim 1

A safety method for a robot system including at least a robot, peripheral equipment serviced by the robot, a robot control unit which causes the robot to execute predetermined services for the peripheral equipment in accordance with a robot control program, a teach control panel which can be operated to select a repeat mode and a teach mode and to move the robot, and a manual data input unit with a CRT which can also be operated to select the repeat mode and the teach mode and to move the robot, comprising the steps of: (a) providing a safety switch for terminating automatic operation of the robot when the robot is in an automatic operating state, providing a remote changeover switch for determining the operating state of the robot, and providing an enable switch on the teach control panel for enabling operation of the teach control panel and the manual data input unit alternately; (b) establishing the automatic operation of the robot by selecting the repeat mode and by placing the remote changeover switch in the ON position; (c) decelerating and stopping robot motion in the automatic operating state when the safety switch is actuated, so that the robot is placed in a playback operating state; and (d) enabling control from the teach control panel only while the safety switch remains in the actuated state and the enable switch is in the ON position, and enabling control from the manual data input unit only when the safety switch remains in the actuated state and the enable switch is in the OFF position.