igus Drylin Delta, User Manual

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5. Safety
5.1. Safety-Related Features of the Modular Robot Controller
The Modular Control Electronics have provision for the connection of external safety
components. However, external safety relays/switches can be connected to interrupt motor
power. The emergency stop is a 1 channel device and does not comply to a safety integrity
level (SIL).
5.2. CE Certification
The components of this robot system are provided with CE marking as requested by the
European machinery directive. Responsible for the components are:
 igus GmbH: robolink DP Robot Arm
 Commonplace Robotics GmbH: Modular Robot Controller.
These CE markings confirm the adherence of these parts of the final machine to the
necessary standards. The final machine, i.e. the complete robot cell, is not covered by these
CE markings.
5.3. Integration of SIL-Rated Safety Components
The Modular Robot Controller does not provide any safety-relevant functions. The integrated
emergency stop function is single channel.
In order to operate the complete, customer-specific robot system, the
commissioning engineer must carry out a risk assessment as part of the
CE certification and, depending on the result, integrate additional safety
components. These are usually safety relays, fence and door switches.
Safety relays can be connected in series with the motor power bridge connector (Section 4.3)
of the Support Module (Figure 5.1). The connector is labelled “Ext Rel”. Via this connector the
motor supply is routed out of the module and via a jumper lead back into the module and then
into the bus. If this connection is interrupted, no active movement of the motors is possible.
This enables the implementation of safety features with the SIL required by the application.