Robot controller functions
Table 12: Robot controller functions
Emergency stop
2)
Required
Yes
Yes
Yes
Reset, restart
Manual
Automatic
Not applicable
Stop category
Stop category 0 or
stop category 1
Not applicable
Secure signal from
safety system to
safety controller
Yes
Yes
Yes
1)
The protective stop is implemented in the robot controller with the
speed limiting
speed limit
= 0 mm/s value.
2)
The safety-rated monitored speed is implemented in the robot controller in the
speed limiting
Reset and restart requirements
After emergency stop or switching on:
•
Manual reset is monitored by the safety system. If resetting is possible and the
reset button is pushed, the emergency stop output switches to the ON state (high)
so that the robot can be started.
•
Resetting the robot is only possible if the user has executed a restart. The restart
is a manual restart. Implementing manual restart is the responsibility of the manu‐
facturer.
•
The robot controller must prevent restart after a change in the operating mode
(e.g. from automated teach-in mode). A restart is only possible after a valid reset.
•
The safety system automatically resets and switches the safety stop output to the
ON state (high) so that the robot can be started.
•
Automated restart must be implemented in the robot controller. Implementing
automated restart is the responsibility of the manufacturer.
•
Depending on the robot type and the requirements of the application, the manu‐
facturer can implement manual restart. In this case, manual reset of the robot
controller is necessary. Implementation is the responsibility of the manufacturer.
3.5.5
Physical guard
Pursuant to the manufacturer’s risk assessment, it may be necessary to install fixed
physical guards such as fencing around the robot’s hazardous area.
In addition to the applicable C standards for the application, the following standards
provide additional information on designing physical guards:
•
EN ISO 14120
•
EN ISO 13857
NOTICE
The possibility of entering the hazardous area by climbing over it, standing behind it or
reaching through it must be prevented.
3
PRODUCT DESCRIPTION
20
O P E R A T I N G I N S T R U C T I O N S | sBot Speed – YA
8024620/16AH/2019-12-02 | SICK
Subject to change without notice