Chapter 3: Safety Function Description
This chapter provides information on the safety function of the HD-1500.
PL and PFH
The Performance Level (PL) calculation for safety functions of the OMRON AMRs are based
on the ISO 13849 standard. PL evaluation has been performed for the HD-1500, including the
supplied pendant.
The PL achieved and the Probability of Dangerous Failure per Hour (PFH) are calculated using
SISTEMA as per ISO 13849-1 for the following Safety Functions:
Table 3-1. Compliance, ISO 13849-1 Functional Safety Information
Function
#
Safety Function
Safety Stop Type
Reset
Type
PL
Cat
PFHd
SF0
E-Stop Button on
Pendant
Emergency Stop
Manual
Reset
d
3
5.67E-
07
SF1
Enabling Device on
Pendant
Protective Stop
Automatic
Reset
d
3
5.67E-
07
SF2
E-Stop Button on
Operator Panel
Emergency Stop
Manual
Reset
d
3
5.67E-
07
SF3
E-Stop Connection
on User Panel
Emergency Stop
Manual
Reset
TBD by
the
user
3
5.79E-
08
SF4
E-Stop Buttons on
Side of AMR
Emergency Stop
Manual
Reset
d
3
5.67E-
07
SF5
Safety Laser Scanner
Detection
Protective Stop
Automatic
Reset
d
3
6.50E-
07
SF6
Safe Motion Detec-
tion
Protective Stop
Manual
Reset
d
3
5.67E-
07
SF7
Protective Stop Con-
nection on User
Panel
Protective Stop
Automatic
Reset
TBD by
the
user
3
5.79E-
08
SF8
Brake Release Mon-
itoring
Protective Stop
Manual
Reset
b
B
7.13E-
06
SF9
Warnings
N/A
N/A
b
B
5.71E-
06
SF10
Automatic Battery
Charging
N/A
N/A
b
1
7.13E-
06
31500-100 RevA
Mobile Robot HD Safety Manual
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