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ID : 2479
Safety Functions
Safety Motion specification provides the following safety functions in addition to that of RC8A Standard specification.
| Safety function name | ISO13849-1 | IEC61508 | Description | RC8A |
|
|---|---|---|---|---|---|
Standard specification |
Safety motion specification |
||||
| Safe Torque Off (STO) | PLe / Cat.4 (PLd / Cat.3)* |
SIL3 (SIL2)* |
Turn off the motor power immediately. |
O | O |
| Safe Stop 1 (SS1) | PLe / Cat.4 (PLd / Cat.3)* |
SIL3 (SIL2)* |
Reduce the robot speed to stop, and then turn off the motor power. |
O | O |
| Safe Stop 2 (SS2) | PLd / Cat.3 | SIL2 | Reduce the robot speed to stop. Motor power remains ON after the stop. |
O | |
| Safe Operating Stop (SOS) | PLd / Cat.3 | SIL2 | Monitor the encoder value to check if the robot does not move from the stop position. |
O | |
| Safely-Limited Position (SLP) | PLd / Cat.3 | SIL2 | Monitor if each axis does not exceed the software limit. |
O | |
| Robot Speed Monitoring (RSM) | PLd / Cat.3 | SIL2 | Monitor if the robot motion speed of the specified part does not exceed the specified speed limit. |
O | |
| Robot Position Monitoring (RPM) | PLd / Cat.3 | SIL2 | Monitor if the specified robot part does not exceed the motion area. |
O | |
| Safe Brake Control (SBC) | PLe / Cat.4 (PLd / Cat.3)* |
SIL3 (SIL2)* |
Turns off the power supply to an external brake, and then lock the brake. |
O | O |
O : Available safety function
* : When using the encoder data
If you use an encoder that has not been safety-validated, you need to confirm that the performance of the encoder deserves to pass the Fault Insertion Test, EMC test, Electrical safety test, environment test, product safety test as well as meets the requirements of PFH ≦ 35% * 10^-6 for SIL2.
ID : 2479