Doosan H2017, Installation Manual

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6.3 Safety Rated Monitoring Function
Doosan robot’s feature various safety rated monitoring functions that can be used as a risk reduction
measure through risk assessment. The limits detected by each monitoring function can be set under
robot > robot Limits in the Teach Pendant UI WCM.

Joint Position Monitoring (SLP): Limits the maximum rotation angle of a joint

Joint Speed Monitoring (SLS): Limits the maximum rotation speed of a joint

TCP Position/Direction Monitoring:
Limits and monitors TCP position/direction in an orthogonal space
Operating Space, Standalone Workspace, Collaborative Workspace, Protected Zone,
Tool orientation limit zone, collision detection mute zone

TCP Speed Monitoring: Limits the maximum TCP movement speed of TCP

TCP External Force Monitoring: Limits the external force applied to TCP

Collision Detection: Limits the external torque applied to the Manipulator arm and each joint

Momentum Monitoring: Limits the maximum momentum of the Manipulator arm

Mechanical Power Monitoring: Limits the maximum power applied to the Manipulator arm.
Note

The safety limits used by each monitoring function can be set under robot > robot Limits in the
Teach Pendant UI.

Safety limits is the condition where the safety rated monitoring function triggers the stop
function. When stop is completed, the position of the robot and force applied externally may
differ from the configured safety threshold.
Safety
Function
Name
Stop Triggering Event
Stop
Mode
PFHd PL, SIL
Joint
Position
Limit (SLP)
If the angle of each axis exceeds the configured threshold
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2
Joint
Speed
Limit (SLS)
If the speed of each axis exceeds the configured threshold
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2
Joint
Torque
Limit (SLT)
If the torque applied to each axis exceeds the predefined
threshold
STO
1.94E-7
/h
PL d Cat. 3
SIL 2
Collision
Detection
If the torque applied to each axis exceeds the thresholds
for the configured sensitivity
STO,
SS1 or
SS2
1.94E-7
/h
PL d Cat. 3
SIL 2
TCP/ Robot
Position
Limit
If the TCP/ Robot leaves the operating space
If the TCP enters the protected space
STO,
SS1 or
SS2
1.41E-7
/h
PL d Cat. 3
SIL 2