Safety-rated Monitoring Function
Doosan Robotics provides safety-rated monitoring function which can be used as a risk reduction measure for risk assessments. The limit of each monitoring function can be configured through Workcell Manager > Robot > Robot Limits of the Teach Pendent UI.
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 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 | 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 | 1.41E-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.
| 1.41E-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.
| 1.41E-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.
| 1.94E-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.
| 1.94E-7 /h | PL d Cat. 3 SIL 2 |
| 6 | TCP/Robot Position Limit TCP/Robot Position Limit | If the TCP or robot (including Tool Shape) exceeds or violates the configured range of the space limit | Emergency Stop is engaged according to the configured Safety Stop Mode.
| 1.41E-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 direction within Tool Orientation Limit Zone exceeds the configured limit | Emergency Stop is engaged according to the configured Safety Stop Mode.
| 1.41E-7 /h | PL d Cat. 3 SIL 2 |
| 8 | TCP Speed Limit TCP Speed Limit | If the TCP speed exceeds the configured limit | Emergency Stop is engaged according to the configured Safety Stop Mode.
| 1.41E-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.
| 1.94E-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.
| 1.41E-7 /h | PL d Cat. 3 SIL 2 |
| 11 | Robot Power Limit Robot Power Limit | If the mechanical power of the robot exceeds the configured limit | Emergency Stop is engaged according to the configured Safety Stop Mode.
| 1.94E-7 /h | PL d Cat. 3 SIL 2 |