Safety-rated I/O

Doosan robots provide a safety rated input interface for connecting protective devices, emergency stop switches, activation switches and control devices from safety protection devices. It also provides a safe rated output interface that can output mode and status information of the robot as well as whether the TCP is in various types of safe zones.

Note

PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous failures of safety-related system/subsystem per hour
PL (Performance Level): The performance level of safety-related components (SRP/CS) of control system according to ISO 13849-1
SIL (Safety integrity level): The safety integrity level of safety-related electronic control systems (SRECS or SCS) according to IEC 62061

Safety Function

Description

PFHd

PL, SIL

1

Safety IO

A duplexed interface for safety related signal input and output

If the input signals do not match or if duplexed output signal feedbacks do not match, it stops the robot and displays an error message.

4.04E-8

/h

PL d Cat. 3

SIL 2

It is the safety-rated input and output, and it offers following functions: For more information, refer to Safety Signal I/O.

Safety Input

Safety Output

Emergency Stop (L), Emergency Stop - No Loopback (L),

Protective Stop (L), Protective Stop - STO (L), Protective Stop - SS1 (L), Protective Stop - SS2 (L),

Protective Stop (L) - Auto Reset & Resume (R), Interlock Reset (R), Reduced Speed Activation(L),

3-Pos Enable Switch (H), Handguiding Enable Switch (H), Remote Control Enable (H),

Safety Zone Dynamic Enable (H), Safety Zone Dynamic Enable (L), HGC End & Task Resume (R)

Emergency Stop (L), Emergency Stop - excl. No Loopback Input (L),

Safe Torque Off (L), Safe Operating Stop (L), Abnormal (L), Normal Speed (L), Reduced Speed (L),

Auto Mode (L), Manaul Mode (L), Remote Control Mode (L), Standalone Zone (L), Collaborative Zone (L)

High Priority Zone (L), Tool Orientation Limit Zone (L), Designated Zone (L)