Safety Function
Safety
Stop Type
Reset
Type
Description PL Category PFHd
Emergency stop
connection(s)
*2
Emergency
Stop
Manual
Reset
User-supplied E-STOP
button(s) can be attached
to the SCPU connection
located in the User Con-
nections area. Pressing
the user-supplied E-STOP
button(s) results in an
emergency stop (control-
led stop). In this case, the
power to the AMR motors
remains ON in order to
achieve a controlled stop.
Once the controlled stop
is achieved, the power to
the motors is disconnect-
ed. The final functional
safety rating is to be cal-
culated using the given
PFHd value (logic and
output) combined with the
user-supplied emergency
stop (input) PFHd values.
To be
deter-
mined
by the
user
3
5.79 x 10
-8
Enabling device on
Pendant
Emergency
Stop
Manual
Reset
When the enabling device
is not depressed or com-
pletely depressed, an
emergency stop (control-
led stop) will occur. In this
case, the power to the
AMR motors remains ON
in order to achieve a con-
trolled stop. Once the
controlled stop is ach-
ieved, the power to the
motors is disconnected.
e 3
5.79 x 10
-8
Safety Laser Scan-
ner detection
Protective
Stop
Auto-
matic
Reset
If an obstacle intrudes in-
to the safety zones, the
Safety Laser Scanner will
trigger a protective stop
(category 1 stop
*1
). Since
this is also a controlled
stop, the power to the
AMR motors remains ON
in order to achieve a con-
trolled stop. Once the
controlled stop is ach-
ieved, the power to the
motors is disconnected. If
the safety zone intrusion
is cleared of the obstacle,
the AMR will automatical-
ly restart and resume op-
eration after a delay of 2.5
seconds.
d 3
5.68 x 10
-7
2 Specifications
2-21
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
2-4 Other Specifications
2
2-4-16 Safety Function Performance Levels
To Next Page
Loading...
Need help?
General
