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: 4.0 × 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: 5.2 × 10-8 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: 1.9 × 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: 1.2 × 10-7 PL: d Architecture: Category 3 |
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: 5.2 × 10-8 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: 4.4 × 10-8 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: 3.6 × 10-8 PL: d Architecture: Category 3 |