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2.1.  Safety Functions and Safety Integrity

2.1.  Safety Functions and Safety Integrity​

 

SafeSpace meets the requirements for PL=d (SIL 2), Cat. 3 in ISO 13849-1:2015, IEC 61508:2010. The safety function and PL (or SIL) for each as follows:

 

SF.1: SLP (Safely-limited position) function

The SLP function prevents the motor shaft from exceeding the specified position limit(s).

SLP meets the requirements for PL=d (SIL 2).

SF.1.1 Cell area

SF.1.2 Cartesian Space

  SF.1.3 Axis-specific Space

 

SF.2: SLS (Safely-limited speed) function

The SLS function prevents the motor from exceeding the specified speed limit.

SLS meets the requirements for PL=d (SIL 2).

SF.2.1 Cartesian TCP velocity

SF.2.2 Axis velocity

SF.2.3 Reduced velocity mode

 

SF.3: SOS (Safe operating stop) function

The SOS function prevents the motor from deviating more than a defined amount from the stopped position. The PDS(SR) in the robot controller provides energy to the motor to enable it to resist external forces.

SOS meets the requirements for PL=d (SIL 2).

 

NOTE : This description of an operational stop function is based on implementation by means of a PDS(SR) in the robot controller without external (for example mechanical) brakes.

 

SF.4: STO (Safe torque off) function

Power, that can cause rotation or motion, is not applied to the motor. The PDS(SR) in the robot controller will not provide energy to the motor which can generate torque or force.

STO meets the requirements for PL=e (SIL 3).

For safe stop 1 (SS1), refer to clause 4.2.2.3 of IEC 61800-5-2.

 

SF.5: Physical Safety IO function to external safety related controllers

SafeSpace communicates to external safety related controllers via safety related device as safety remote IO. It transmits a violation alarm of velocity, area, stop, space, speed, etc. Also, It receives an emergency stop, tool selection, the activation of Cartesian, Joint space, etc.

Safety IO meets the requirements for PL=e (SIL 3), Cat.3.