ABB CRB 15000, Руководство по эксплуатации продукта, Страница: 46 / 1096

Equiv. PFH
D
(incl. brake)
i
[1/hour]
PL PFH
D
(SRP/CS)
[1/hour]
Category
(SRP/CS) SafeMove functions
4.14x10
-7
d 2.66x10
-7
3 Tool Orientation Super-
vision 10
4.14x10
-7
d 2.66x10
-7
3 Tool Speed Supervi-
sion 11
4.22x10
-7
d 2.74x10
-7
3 TCP Force Supervision 12
4.22x10
-7
d 2.74x10
-7
3 Axis Torque Supervi-
sion 13
4.22x10
-7
d 2.74x10
-7
3 Safe Payload Supervi-
sion 14
4.14x10
-7
d 2.66x10
-7
3 Control Error Supervi-
sion 15
4.14x10
-7
d 2.66x10
-7
3 Contact Application
Tolerance 16
i
Calculated using PFHd
Brake
= 1/ (MTTFd
Brake
(years) x 8760 hours/year). This is formally inconsistent
with ISO 13849-1 but gives a realistic estimation of the risk reduction provided by the safety
functions.
Note
All safety functions comply with ISO 10218-1: the SRP/CS achieves Category 3,
PL d.
The Cyclic Brake Check must be run every 8-48 hours. For more details see
Running the Cyclic Brake Check routine on page 198 .
Note
For the manipulator, all the safety functionality is included in the joint units. These
are only designed to be replaced as complete units (see section
Repair on
page 201 ). Individual subcomponents shall not be exchanged.
The maximum communication and manipulator reaction times must be added
to the reaction times from SafeMove (see
Application manual - Functional safety
and SafeMove ).
• For stopping functions: 4 ms
• For position and torque monitoring functions: 6 ms
• Brake closing time <110 ms
Note
A violation of the standstill monitoring will result in a Category 0 stop (see ISO
10218-1 §5.5.3). Due to the brake closing time, the robot can fall some distance
before it stops. Sufficient space must be provided around the robot to prevent
an operator from being trapped. The falling distance and maximum speed are
dependent on the robot pose, so this must be validated.
46 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
2 Manipulator description
2.3 Safety data
Continued