https://www.densorobotics-europe.com/fileadmin/_processed_/f/f/csm_RC8A_Safety_Motion_f3e5b96d64.png



 

Safety motion for the RC8A controller is an option where the controller has safety inputs and outputs that conform to specific safety specifications. It contains features that allow a robot to have certain devices to detect the presence of a person and slowing down and eventually stopping the robot depending on the proximity of that individual. The safety motion option hardware is integrated into the robot controller and provides an additional input and output connection for these safety functions.

 

https://www.fa-manuals.denso-wave.com/en/usermanuals/002466/

Here are the safety functions included with the safety motion.


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