Doosan H2017 Installation Manual

Doosan Robotics Installation Manual v2.1
92
6.2 Safety-Rated Stop Function
This is the stop function and stop monitoring function of Doosan Robotics, and it uses the safety function defined
in IEC 61800-5-2.
Safety
Function
Name
Function Description and Failure Detection
PFHd
PL, SIL
STO
(Safe
Torque Off)
Immediately cuts off the power supply to all joint module motors, and
brake engagement forces the operation to stop. (Servo Off)
2.54E-8
/h
PL e Cat. 4
SIL 3
SS1
(Safe
Stop 1)
All joints are stopped with the maximum deceleration possible, the
power supply to the motor is cut off, and the brake is engaged to stop.
(Servo Off)
If deceleration is not sufficient during stopping, the method is set to
STO stop.
1.41E-7
/h
PL d Cat. 3
SIL 2
SS2
(Safe
Stop 2)
All joints are stopped with the maximum deceleration possible, and the
SOS stop monitoring function is set.
If deceleration is not sufficient during stopping, the method is set to
STO stop.
1.41E-7
/h
PL d Cat. 3
SIL 2
SOS
(Safe
Operating
Stop)
The current position is maintained with power supplied to the motor
and the brake disengaged (Servo ON).
STO is set if abnormal position change is detected.
1.41E-7
/h
PL d Cat. 3
SIL 2
Safety
Function
Name
Stop Triggering Event
Stop
Mode
PFHd
PL, SIL
Emergency
Stop
If the Emergency Stop switch of TP is pressed
If the Emergency Stop switch connected to the TBSFT EM
terminal is pressed
STO or
SS1
2.54E-8
/h
PL e Cat. 4
SIL 3
Protective
Stop
If the protective device connected to the TBSFT PR
terminal is activated
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2

Doosan H2017 Specifications

General

Brand	Doosan
Model	H2017
Category	Robotics
Language	English