Functional description
01.00 | Electric gripper EGP with safety functions | System description | en | 1381596
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4.4 Safety control system
The safety control system provides the power supply U
B
– e.g. via
a safety relay– for the gripper. The safety control system can de-
activate the power supply safely and uses this function as a safe
shutdown path.
The safety control system receives the target values Open, Close,
Reset, Enable, Emergency Stop and Confirm from the superordin-
ate control system.
The position of the gripper fingers is transmitted to the safety con-
trol system via the inputs Gripper Opened1, Gripper Opened2,
Gripper Closed1 and Gripper Closed2.
The status of the gripper fingers is forwarded to the superordinate
control system via the output signals Gripper Opened1, Gripper
Opened2, Gripper Closed 1 and Gripper Closed 2.
Processing of the sensor signals for further use in the customer-
specific application must be performed by the superordinate con-
trol system.
In maintenance mode and in emergency stop, the safety control
system carries out a plausibility check of the sensor signals.
In release mode, the sensor signals must be checked for plausibil-
ity by the superordinate control system. If this plausibility check is
not carried out, an incorrectly set or defective sensor or a gripper
that does not operate correctly cannot be detected in release
mode.
The four sensors signals are provided to the superordinate control
system for further processing by the safety control system.
Information on the operating mode is provided by the safety con-
trol system via the two-channel safety inputs Enable, Emergency
Stop and Confirm.
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