Safety-rated Stop Subfunction

Safety-rated stop subfunction is used to stop the robot when Safety-rated Monitoring Functiondetects limit violation or when a stop signal is received from the dedicated input terminal ofSafety-rated Stop Subfunction.

Note

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 defined by ISO 13849-1
SIL (Safety integrity level): the safety integrity level of safety-related electronic control systems (SRECS or SCS) defined by IEC 62061
Stop Category: The category of stop functions defined by IEC 60204-1

	Safety Function	Description	PFHd	PL, SIL
1	STO (Safe Torque Off) & SBC (Safe Brake Control)	It is the safety stop function corresponding to Stop Category 0, and it immediately cuts motor power to all joint modules. WIth motor power down, the axis will continue to rotate due to inertia, so the brakes must be operated simultaneously to stop with frictional force of the brake. As the motor power is cut off, the robot can be operated after releasing the stop function and setting the Servo On. For more information about servo on methods, refer to Servo On. The robot brake is used for maintaining the current pose when driving force is lost (i.e., power off, etc.) not for deceleration. Frequently using STO can result in brake wear or decelerator durability loss, so it is recommended to use SS1 unless necessary.	2.54E-8 /h	PL e Cat. 4 SIL 3
2	SS1 (Safe Stop 1)	It is the safety stop function corresponding to Stop Category 1, and it decelerates all joints as much as possible to stop them, cuts the motor power off and activates the brake to maintain the stopped state. If deceleration is not sufficient during stopping, the method is set to STO stop. Power is cut off after deceleration, and like STO, the robot can be operated after releasing the stop function and setting the Servo On. For more information about Servo On methods, refer to Servo On.	1.41E-7 /h	PL d Cat. 3 SIL 2
3	SS2 (Safe Stop 2)	It is the safety stop function corresponding to Stop Category 2, and it decelerates all joints as much as possible to stop them, and SOS stopped state monitoring function is engaged. If deceleration is not sufficient during stopping, the method is set to STO stop. All joints are stopped with maximum deceleration by a Stop Mode corresponding to Stop Category 2, and SOS (Safe Operating Stop) is engaged.	1.41E-7 /h	PL d Cat. 3 SIL 2
4	Reflex Stop (RS1)	It is the safety stop function corresponding to Stop Category 2, and it utilizes Floating Reaction ( a function to comply with the external force for a moment after the collision is detected) to respond to external force, and Safe Operating Stop (SOS) is engaged. If excessive location, change in direction or speed is detected during Floating Reaction, or if deceleration is not done appropriately during stopping, STO stop is engaged.	1.41E-7 /h	PL d Cat. 3 SIL 2