Safety functions overview

This section lists all safety functions and their associated triggering event, reaction, reliability, and how it is realized.

The following terms are used in the table:

PFHd : The Probability of dangerous Failures per Hour as defined in EN ISO 13849-1:2015
PL : Performance Level as defined in EN ISO 13849-1:2015
Architecture : As defined in EN ISO 13849-1:2015

Function name	Description	PFHd, PL, and architecture
Emergency stop	Triggering event : Pressing an Emergency stop button connected to the robot—see Emergency stop. Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Emergency stop. Reset function : Release all Emergency stop buttons, and press the Restart button on the robot. Active : Always.	PFHd: 5.54 × 10^-8 PL: d Architecture: Category 3
Overspeed	Triggering event : The speed of the robot exceeding the defined values in Overspeed detection. Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Protective stop. Reset function : Press the Restart button on the robot. Active : Always.	PFHd: 2.82 × 10^-7 PL: c Architecture: Category 3
Field switching	Triggering event : Activate the relevant Protective field according to the robot's speed and state—see Field switching and Personnel detection. Reaction : A predefined Protective field is selected. Reset function : Continuous function. No action required. Active : Always.	PFHd: 4.01 × 10^-7 PL: d Architecture: Category 3
Personnel detection	Triggering event : Safety laser scanners detecting an unexpected object in the active Protective field—see Field switching and Personnel detection. The robot enters Protective stop. Reaction : The robot will stop within the active Protective field if the payload, CoM, mass inertia moment, and friction coefficient are within specifications. Reset function : Resumes automatically after 2 s of cleared Protective field. Active : Always. Unless Protective fields are muted—see Muted Protective fields. Muting enables Speed monitoring.	PFHd: 7.36 × 10^-7 PL: d Architecture: Category 2
Speed monitor	Triggering event : The speed of either drive wheel exceeds 0.3 m/s while the Protective fields are muted. Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Protective stop. Reset function : Press the Restart button on the robot. Active : When Protective fields are muted.	PFHd: 2.82 × 10^-7 PL: d Architecture: Category 3
Locomotion	Triggering event : The speed of the robot exceeding 0.1 m/s—see Locomotion interface. Reaction : Locomotion pins deliver 0 V. Reset function : Inapplicable. Active : Always.	PFHd: 2.38 × 10^-7 PL: d Architecture: Category 3
Mode selection	Triggering event : Changing the operating mode of the robot by turning the Operating mode key—see Control panel and display. Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Protective stop. Reset function : Press the Restart button on the robot. Active : Always.	PFHd: 1.2 × 10^-6 PL: c Architecture: Category 1
System emergency stop	Triggering event : External device delivering 0 V to the System emergency stop input pins—System emergency stop interface. Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Emergency stop. Reset function : When external signals are active (24 V), press the Restart button on the robot. Active : Always.	PFHd: 5.45 × 10^-8 PL: d Architecture: Category 3
Manual stop	Triggering event : Pressing the Manual stop button on the control panel—see Control panel and display. Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Manual stop. Reset function : Press the Restart button on the robot. Active : Always.	PFHd: 4.29 × 10^-6 PL: b Architecture: Category b
Manual restart	Triggering event : Pressing the Restart button on the control panel—see Control panel and display. Reaction : Re-enables the robot by releasing it from the Category 0 stop (IEC 60204-1) and by disengaging mechanical spring-applied brakes. Reset function : N/A. Active : After triggering of Emergency stop, Overspeed, Speed monitor, Mode selection, Manual stop, or after a hardware fault.	PFHd: 4.29 × 10^-6 PL: b Architecture: Category b
Manual brake release	Triggering event : Turning the Manual brake release switch on the robot—see Manual brake release. Reaction : Category 0 stop (IEC 60204). The robot enters Protective stop. Reset function : Press the Restart button on the robot. Active : Always.	PFHd: 5.36 × 10^-8 PL: d Architecture: Category 3

Function name

Description

PFHd, PL, and architecture

Emergency stop

Triggering event : Pressing an Emergency stop button connected to the robot—see Emergency stop.

Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Emergency stop.

Reset function : Release all Emergency stop buttons, and press the Restart button on the robot.

Active : Always.

PFHd: 5.54 × 10^-8

PL: d

Architecture: Category 3

Overspeed

Triggering event : The speed of the robot exceeding the defined values in Overspeed detection.

Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Protective stop.

Reset function : Press the Restart button on the robot.

Active : Always.

PFHd: 2.82 × 10^-7

PL: c

Architecture: Category 3

Field switching

Triggering event : Activate the relevant Protective field according to the robot's speed and state—see Field switching and Personnel detection.

Reaction : A predefined Protective field is selected.

Reset function : Continuous function. No action required.

Active : Always.

PFHd: 4.01 × 10^-7

PL: d

Architecture: Category 3

Personnel detection

Triggering event : Safety laser scanners detecting an unexpected object in the active Protective field—see Field switching and Personnel detection. The robot enters Protective stop.

Reaction : The robot will stop within the active Protective field if the payload, CoM, mass inertia moment, and friction coefficient are within specifications.

Reset function : Resumes automatically after 2 s of cleared Protective field.

Active : Always. Unless Protective fields are muted—see Muted Protective fields. Muting enables Speed monitoring.

PFHd: 7.36 × 10^-7

PL: d

Architecture: Category 2

Speed monitor

Triggering event : The speed of either drive wheel exceeds 0.3 m/s while the Protective fields are muted.

Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Protective stop.

Reset function : Press the Restart button on the robot.

Active : When Protective fields are muted.

PFHd: 2.82 × 10^-7

PL: d

Architecture: Category 3

Locomotion

Triggering event : The speed of the robot exceeding 0.1 m/s—see Locomotion interface.

Reaction : Locomotion pins deliver 0 V.

Reset function : Inapplicable.

Active : Always.

PFHd: 2.38 × 10^-7

PL: d

Architecture: Category 3

Mode selection

Triggering event : Changing the operating mode of the robot by turning the Operating mode key—see Control panel and display.

Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Protective stop.

Reset function : Press the Restart button on the robot.

Active : Always.

PFHd: 1.2 × 10^-6

PL: c

Architecture: Category 1

System emergency stop

Triggering event : External device delivering 0 V to the System emergency stop input pins—System emergency stop interface.

Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Emergency stop.

Reset function : When external signals are active (24 V), press the Restart button on the robot.

Active : Always.

PFHd: 5.45 × 10^-8

PL: d

Architecture: Category 3

Manual stop

Triggering event : Pressing the Manual stop button on the control panel—see Control panel and display.

Reaction : Category 0 stop (IEC 60204-1) and mechanical spring-applied brakes engage. The robot enters Manual stop.

Reset function : Press the Restart button on the robot.

Active : Always.

PFHd: 4.29 × 10^-6

PL: b

Architecture: Category b

Manual restart

Triggering event : Pressing the Restart button on the control panel—see Control panel and display.

Reaction : Re-enables the robot by releasing it from the Category 0 stop (IEC 60204-1) and by disengaging mechanical spring-applied brakes.

Reset function : N/A.

Active : After triggering of Emergency stop, Overspeed, Speed monitor, Mode selection, Manual stop, or after a hardware fault.

PFHd: 4.29 × 10^-6

PL: b

Architecture: Category b

Manual brake release

Triggering event : Turning the Manual brake release switch on the robot—see Manual brake release.

Reaction : Category 0 stop (IEC 60204). The robot enters Protective stop.

Reset function : Press the Restart button on the robot.

Active : Always.

PFHd: 5.36 × 10^-8

PL: d

Architecture: Category 3