Standard RO1 - 4 Safety; Overview of Safety Features

Chapter 4
Safety
4.1 Overview of Safety Features
The RO1 robot includes many safety features for operating in either collaborative or industrial applica-
tions. The exact implementation of these features will depend upon the application and risk assess-
ment. The nal performance level of the system will depend on the integration and must be calculated
by the integrator.
The RO1 has parameters for the below settings that can be fully customized for the end application and
allow for integration with a wide variety of industrial safety components.
• Joint Collision Thresholds
• Joint Velocity, Acceleration, and Torque limits
• Emergency Stop Inputs
• Safety IO / OSSD
/pagebreak ### Response Time
The RO1 responds to safety events within the tolerances in the below chart:
Safety Input Event
Worst Cast Detection
Time
Worst Cast Power O
Time
Worst Case
Response Time
Internal Emergency Stop 50ms 600ms 600ms
External Emergency Stop 50ms 600ms 600ms
External Safety IO Slow Speed
Input
50ms N/A 600ms
External Safety IO Emergency
Stop
50ms 600ms 600ms
Tablet or Browser E-Stop 1000ms* 1600ms* 1600ms*
*Network Latency Dependent
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