Safety Function
Users/system integrators can make use of the various safety functions, including safety-rated stop function, monitoring function and interface function, to protect operators and machines, and can also connect other machines and safety/protection equipment.
Each safety-rated stop function, monitoring function and interface function satisfy Category 3, Performance Level d(PL d) defined by ISO 13849-1 and Hardware Fault Tolerance 1, Safety Integrity Level 2(SIL 2) defined by IEC 62061.
The joint-level operated safety functions of Doosan Robotics uses the safety functions described in IEC 61800-5-2.
Note
- Work cells must be set using the safety functions and interface according to the risk assessment performed on the corresponding robot application by the system integrator, and refer to this manual for information required for this..
- If the safety systems of the robot detect system defects, such as hardware defects including emergency stop circuit shortage, position sensor damage or control communication error, Stop Category 0 is immediately initiated.
- Meanwhile, if the safety systems of the robot detect violations during safety monitoring, such as pressing the emergency stop switch, protective stop signal input, detection of external impact, or physical parameters (robot/TCP position, speed, momentum) exceeding set parameters, the system stops the robot using the mode set as the stop mode setting in the safety setting menu. (Selects Stop Category 0, 1 or 2)
- For information on the time and stopping distance until the robot comes to a full stop from the moment the above error or violation occurs, refer to Stop Distance and Stop Time. This time must be considered as part of the risk assessment performed by the system integrator.
- In special cases (collision detection, TCP Force Violation), a Safety Stop Mode that stops the robot after accepting the external force for 0.25 seconds after event occurrence can be used to avoid clamping situations where limbs are jammed between the fixated jig/workpiece and the robot. (RS1 Stop Mode)
- The safety setting menu can set various safety functions to limit the movement of joints, robot and TCP. TCP means the location of the output flange center point added by the TCP offset.