Safety Settings
This section walks you through the basic concepts for using Safety Settings.
The stop modes provided to ensure user safety are as follows:
- STO (Safe Torque Off): Stops Servo Off (motor power is immediately turned off)
- SS1 (Safe Stop 1): Servo Off after maximum deceleration stop
- SS2 (Safe Stop 2): Standby after maximum deceleration stop (pause)
- RS1: Upon collision, complies to the direction opposite of the collision and then enters standby (can only be set in Collision Detection/TCP Force Limit Violation)
Doosan Robotics robots have two types of safety stop functions. Emergency Stop is used for general emergency situations, and the robot can resume operation with Servo On after releasing the emergency stop. In case of Protective Stop, the robot can resume operation by resolving the cause of Protective Stop and releasing the stop.
- Emergency Stop: It sets the stop mode when the Emergency Stop button of the teach pendant or an additionally installed external device is activated
- It activates when the Emergency Stop switch of the teach pendant or the one connected to the TBSFT EM terminal is pressed.
- Only STO or SS1 can be selected.
- Protective Stop: It sets the stop mode when the externally connected protective equipment is activated
- It activates when the protective equipment connected to the TBSFT PR terminal is activated.
For more information on the Safety Stop functions, refer to Safety Functions.
Press the Emergency Stop button on the teach pendant or activate the safety device connected to the Safety I/O to activate emergency stop. Safety devices can be connected to Emergency Stop or Protective Stop through Robot Parameters > Safety Settings > Safety I/O functions of the teach pendant screen.
- For more information about connecting a safety device to Safety I/O, refer to Connect Controller I/O.
- For information on how to set the safety stop function for this connection in the program, See Safety Signal I/O.