Safety-Rated I/O
Doosan Robotics provides a safe-rated input interface to which safety protection devices, protection devices, emergency stop switches, control devices, etc., can be connected. In addition, a safety-rated output interface is provided that outputs the robot mode and status information as well as whether the TCP is inside various types of safe areas.
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. | 2.50E-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 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) |