Brooks Automation 3. Collaborative Robot Safety
Part Number: PF40-DI-00010 Rev. A General Information
3. Collaborative Robot Safety
General Information
Summary
The PF400 robots have been designed to be safe for collaborative use by means of inherent design
and control when evaluated under ISO/TS 15066 Robots and Robotic Devices – Collaborative
Robots, released February 15, 2016. In all free space collisions (transient contact), up to its
maximum speed and payload, these robots do not exceed the forces in the standard. In all
horizontal rigid surface collisions PF400 does not exceed the forces (quasi-static) in the standard.
For vertical downward collisions into a rigid surface these robots do exceed the forces (quasi-static)
at higher speeds. Horizontal and vertical motions at 100% speed may be programmed as long as an
approach point is specified at least 50 mm above any rigid surfaces with a final motion at a speed of
60% or less. Collision testing has been performed and verified by TUV and a table of collision
speeds and forces is provided in Appendix G: TUV Verification of PF400 Collision Forces.
Common controller failures that might result in an uncontrolled motion have been listed and tested
under supervision by TUV. None of these failures can result in an uncontrolled motion. A single,
PLd, E-Stop circuit is provided. However, this robot can also be stopped safely by hand, providing a
redundant means of stopping.
Background
Recently there has been increased interest in humans and articulated machines working in the
same workspace in a safe manner. Safety standards are being updated based on a wider variety of
application conditions and taking into consideration that many articulated manipulators are now low
payload devices with limited power. The current safety standard used by most organizations for
evaluating the safety of “Industrial” robots is EN ISO 10218-1:2011 and 10218-2:2011. These
standards have recently been augmented in 2016 by ISO/TS 15066 Robots and Robotic Devices –
Collaborative Robots. “Collaborative Operation” is defined in section 3.4 of 10218:1:2011 as “a
state in which purposely designed robots work in direct cooperation with a human within a defined
workspace”.
One of the requirements listed as sufficient to meet the 10218:1:2011 standard is:
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