Safety-rated Monitoring Function
Doosan robots provide safety-rated monitoring functions that can be used as a risk reduction measure through risk assessment. The threshold detected by each monitoring function can be configured in the Robot Parameter > Safety Settings > Robot Limits.
Note
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.
PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous safety-related system/subsystem failures occurring in an 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 | Safety Function Trigger Condition | Intended Action | 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) | 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) | 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) | 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 | 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 | 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 | 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 | 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 | 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 | 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 | 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 |