66
Mobile Robot HD Safety Manual
31500-100 RevA
Table 3-2. Safety Function (SF) Descriptions
Function
#
Safety Function
Description
What is
controlled
SF0
E-Stop Button on
Pendant
Pressing the E-Stop button on the pendant res-
ults in an emergency stop (controlled stop)
*1
.
In this case, the power to the AMR motors
remains on in order to achieve a controlled
stop. Once the controlled stop is achieved, the
power to the motors is disconnected.
SF0 has functional safety rating of Pld Cat-
egory 3
*2
.
AMR
SF1
Enabling Device on
Pendant
The pendant is used in manual mode to drive
the AMR under the operator control. The
three-position enabling device must be held in
the center enable position to allow the AMR to
move. Releasing the enabling device or com-
pressing it beyond the center position will
cause a Category 1 Stop
*1
on the AMR. This is
a protective stop, and the AMR resumes its
operation automatically after a two-second
delay, and when the pendant enabling device
is held in the center enable position.
SF1 has functional safety rating of Pld Cat-
egory 3
*2
.
AMR
SF2
E-Stop Button on
Operator Panel
Pressing the E-Stop button on the Operator
Panel results in an emergency stop (controlled
stop)
*1
. In this case, the power to the AMR
motors remains on in order to achieve a con-
trolled stop. Once the controlled stop is
achieved, the power to the motors is dis-
connected.
SF2 has functional safety rating of Pld Cat-
egory 3
*2
.
AMR
SF3
E-Stop Connection
on User Panel*
3
The user-supplied E-Stop button can be
attached to the SCPU connection located on
the user access panel. Pressing the user-sup-
plied E-Stop button results in an emergency
stop (controlled stop). In this case, the power
to the AMR motors remains on in order to
achieve a controlled stop. Once the controlled
stop is achieved, the power to the motors is dis-
connected. The final SF3 functional safety rat-
ing is to be calculated using the given PFHd
value (logic and output) combined with the
user supplied E-Stop (input) PFHd values. If no
user E-Stop is connected to the user access
panel SCPU connector, then an E-Stop jumper
AMR