Design and description
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01.00 | Electric gripper EGP with safety functions | System description | en | 1381596
3.2 Description
During the system setup, a monitoring level is created with a
safety control between the system's superordinate control and the
gripper.
As a result, the position of the gripper fingers can be monitored in-
dependently of the superordinate control and, if necessary, the
gripper can be disconnected from the supply voltage and thereby
placed to a safe state.
The monitoring level differentiates between two modes:
• Monitored operation
• Released operation
In monitored operation mode, the functions of the monitoring
level are active.
In released operation mode, the functions are not active and haz-
ards may arise. In released operation mode, the customer must
ensure that the plausibility of the sensor signals is monitored and
evaluated.
The monitoring level comprises two safety functions and the eval-
uation logic:
• Safe Operating Stop (SOS)
– Safe monitoring of the position of the gripper fingers
Cross-attached sensors monitor the position of the gripper
fingers.
• Safe Torque Off (STO)
– Safe deactivation path of the gripper
The gripper is deactivated by switching off the power supply.
• Evaluation logic
– The monitored positions are evaluated by the safety control.
If necessary, the control makes the decision to place the
gripper in safe state and maintains this state.
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