두산로봇은 위험성평가를 통한 위험 저감조치로 사용할 수 있는 안전정격 감시기능을 제공합니다. The threshold detected by each monitoring function can be configured in the Robot Parameter> Safety Settings > Robot Limits.
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Safety limits is the condition where the safety-rated monitoring function triggers the stop function. When stop is completed, the position of the robot and force applied externally may differ from the configured safety limit.
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PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous safety-related system/subsystem failures occurring in an hour
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PL (Performance Level): The performance level of safety-related components (SRP/CS) of control system defined by ISO 13849-1
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SIL (Safety integrity level): The safety integrity level of safety-related electronic control systems (SRECS or SCS) according to IEC 62061
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|
Safety Function |
Safety Function Trigger Condition Triggering Event |
Intended Action Intended Result |
PFHd |
PL, SIL |
|---|---|---|---|---|---|
|
1 |
SOS (Safe Operating Stop) |
The current position is maintained with power supplied to the motor and the brake disengaged (Servo ON state). If the angle of one axis exceeds a certain angle when stopped |
STO |
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
2 |
SLP Joint Angle Limit SLP (Joint Angle Limit) |
If any of the axis angles exceed the configured limit |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
3 |
SLS Joint Speed Limit SLS (Joint Speed Limit) |
If any of the axis speeds exceed the configured limit |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
4 |
SLT Joint Torque Limit SLT (Joint Torque Limit) |
If the torque applied to each axis exceeds the predefined limit |
Emergency Stop is engaged according to the configured safety stop mode.
|
4.65E-7 /h
|
PL d Cat. 3 SIL 2 |
|
5 |
Collision Detection Collision Detection |
If any of the torques applied to each axis exceed the limit for configured collision detection sensitivity |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.65E-7 /h
|
PL d Cat. 3 SIL 2 |
|
6 |
TCP/Robot Position Limit #TCP/Robot Position Limit# |
When the TCP or robot (including Tool Shape) deviates from or encroaches the range set in the space limit,
|
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
7 |
TCP Orientation Limit TCP #Orientation Limit# |
If the difference between the set direction and the TCP orientation exceeds the configured threshold within the Tool Orientation Limit Zone, |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
8 |
TCP Speed Limit #TCP Speed Limit# |
If the TCP speed exceeds the configured threshold, |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
9 |
TCP Force Limit TCP Force Limit |
If the external force applied to the TCP exceeds the configured limit |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.65E-7 /h
|
PL d Cat. 3 SIL 2 |
|
10 |
Robot Momentum Limit Robot Momentum Limit |
If the momentum of the robot exceeds the configured limit |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |
|
11 |
Mechanical Power Limit #Robot Power Limit# |
If the mechanical power of the robot exceeds the configured threshold, |
Emergency Stop is engaged according to the configured Safety Stop Mode.
|
4.63E-7 /h
|
PL d Cat. 3 SIL 2 |