| 摘要 |
A hand-held terminal unit (3) configured to communicate with a robot control unit (2) for controlling a robot (1), and including a safety function arrangement (5; 15) configured to control the opening and closing of a safety control circuit. The safety function arrangement comprises at least one pressure force application area (7; 17) located externally on the hand-held terminal unit and separated from any display screen of the hand-held terminal unit, and the pressure force application area comprises at least one pressure force sensor means (11; 21) arranged to control the closing and opening of the safety control circuit in response to an external pressure force applied to the pressure force application area (7; 17). The safety function arrangement further comprises at least one processor or computer (10) communicating with the pressure force sensor means (11; 21) and configured to close or open the safety control circuit when the applied pressure force on the pressure force sensor means exceeds a first threshold value. The safety function arrangement may be an enabling device (5) or an emergency stop device (15), for example. According to the invention is also defined an industrial robot system, a corresponding method and means for implementing the method. |
