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ID : 3494
Function Configuration of Safety-related Control System
Each COBOTTA safety-related control system consists of multiple safety functions.
The safety functions that make up each safety-related control system are as follows:
| Safety-related Control System | Safety Function | Safety Level |
|---|---|---|
| Emergency Stop Function | SS1-t、STO、SOC | PLd Cat.3 |
| Protective Stop Function | SS1-t、STO、SOC | |
| Speed Limit Function | SLS、STO、SOC | |
| Torque Limit Function | SLT、STO、SOC | |
| Axis Limit Function | SAL、STO、SOC |
The description of each function is as follows:
| Safety Function | Description |
|---|---|
| Safe torque off (STO) (*1) | Turn off the motor power immediately. |
| Safe stop 1 time controlled (SS1-t) (*1) | Decelerate and stop the robot and turn off the motor power after a certain period of time. |
| Safely-limited speed (SLS) (*1) | Monitor the speed of each axis and turn off the motor power when it exceeds the limit. |
| Safely-limited torque (SLT) (*1) | Monitor the torque of each axis and turn off the motor power when it exceeds the limit. |
| Safe output control (SOC) | Output the motor power shutdown state. |
| Soft axis limiting (SAL) (*2) | Monitor the angle of each axis and turn off the motor power when it exceeds the limit. |
*1：In compliance with IEC 61800-5-2.
*2：This function is available in Ver. 2.6.* or later.
The above safety functions are certified by TÜV Rheinland.
For information about the certificate, refer to this(PDF:647KB).
ID : 3494