3.6.2.2
Initiating stop (SF10)
A safety-related stop function places the robot in a safe state on demand (e.g., infringe‐
ment of a protective field).
If the protective field of the primary protective device is interrupted, a protective stop is
carried out. As long as the protective fields of the primary protective device and safety
laser scanner are not both clear, unintentional startup of the robot is prevented.
Table 3: Initiating stop when the protective field of the primary protective device is interrupted
Trigger
Protective field of the primary protective device is interrupted by persons
Condition
Possible at any time
Reaction
Robot executes a protective stop
Safe state
Standstill
This safety function is independent of the robot operating modes (e.g. Automated or
Manual). If this safety function is triggered, it initiates a protective stop via the corre‐
sponding safe inputs of the robot controller.
If no protective stop should be performed in an operating mode (e.g. manual), this must
be configured correspondingly in the robot controller.
NOTE
The robot controller of some robots may implement the protective stop signal differently
in different operating modes. For example, initiation of a protective stop could be
ignored in a manual operating mode.
In this case, the risks must be reduced in another way, e.g. by the safety-rated moni‐
tored speed function in manual robot operation. The manufacturer must take this into
account in the risk assessment.
NOTE
Expected frequency for requests of this safety function: 1 / hour and thus 8,760 / year.
3.6.2.3
Preventing unexpected startup following a protective stop with manual reset (SF01.1)
The manufacturer must decide whether a manual or automated reset is necessary
after a protective stop (depending on risk assessment).
Table 4: Allowing restart after protective stop
Trigger
Valid reset sequence
Condition
Protective fields of primary protective device and safety laser scanner are
clear
Reaction
Allows the control to accept a single start command
Safe state
Standstill
A valid reset sequence takes place as follows: the change LOW-HIGH-LOW is evaluated
in the safety controller, whereby the HIGH pulse must be present for a duration between
50 ms and 5 s.
This safety function is mandatory if a manual reset is necessary after a protective stop.
This safety function is not needed if an automated reset is possible after a protective
stop because unexpected startup is prevented by the safety function SF01.2.
PRODUCT DESCRIPTION
3
8023421/12KF/2019-01-22 | SICK
O P E R A T I N G I N S T R U C T I O N S | sBot Stop
19
Subject to change without notice
