11 Safety Function
11.4 Functional Safety Functions
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HW1485509
HW1485509
11.4 Functional Safety Functions
11.4.1 Outline
By using the functional safety function, the position and speed of the
Robot and the posture of its tool are monitored.
The power supply to the motor is suspended and the Robot is completely
stopped when an error is detected on safety monitoring data.
With this function, the following items can be improved:
– improving the safety of the Robot’s motion
– minimizing the equipment layout area where the manipulators are
installed
11.4.2 List of Safety Functions
There are six different functional safety functions for monitoring purposes.
Robot Range Limit
Monitors the manipulator arm or its tool to be inside the designated safety
area.
Axis Range Limit
Monitors each axis angle to be equal to or inside the designated safety
area.
Speed Limit
Monitors the speed of manipulator TCP (Tool Center Point) and its FCP
(Flange Center Point) when the Robot control group is monitored.
Axis Speed Monitor
Monitors each axis speed to be equal or slower than the designated
speed.
Tool Angle Monitor
Monitors the manipulator tool angle to be inside the range of limited angle
when the angle is centered on the designated standard posture.
Tool Change Monitor
Monitors the tool file used in the functional safety function to be consistent
with the user specified tool file.
These safety functions conform to the following safety standards.
– EN ISO 13849-1: 2015 Cat.3 / PL d
– EN 62061(IEC 61508) SIL CL2
If the Robot has the collaborative operation function, the following
additional function can also be used.
External Force Monitor
Monitors the external force applied to the manipulator’s TCP and each
joint axis by using PFL function.
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