Doosan H2017, Руководство по установке

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6. Safety Functions
6.1 Introduction
Robot’s from Doosan Robotics uses various safety-rated monitoring and safety-related electrical
interfaces to protect users and devices, and this allows the integration of other devices and additional
protection devices. The performance of each safety-rated monitoring and interface satisfies Category
3, Performance Level d(PL d) defined by ISO 13849-1 and Hardware Fault Tolerance 1, Safety
Integrity Level 2 (SIL 2) defined by IEC 62061.
Note

Work cells must be set using safety functions and the interface according to the risk
assessment performed on the corresponding robot application by the system integrator, and
refer to this manual for information required for this.

If the safety systems of the robot detect system defects such as hardware defects including
emergency stop circuit shortage, position sensor damage or control communication error, stop
category 0 is immediately initiated. Meanwhile, if the safety systems of the robot detect
violations during safety monitoring, such as pressing the emergency stop switch, protective stop
signal input, detection of external impact, or physical parameters (robot position, speed,
momentum) exceeding set parameters, the system stops the robot using the mode set to the
stop mode setting in the safety setting menu. (select one from stop category 0, 1, 2)

In special cases (collision detection, TCP Force Violation), a special mode that stops the robot
after accepting the external force for 0.25 seconds from the time of event occurrence can be
used to avoid clamping situations where a person’s limbs are jammed between the fixed
jig/workpiece and the robot. (RS1 stop mode)

For information on time and stopping distance from the moment the above error or violation
occurs until the robot comes to a complete stop, refer to
Annex C Stop Distance and Stop
Time . This time must be considered as part of the risk assessment performed by the system
integrator.

The safety setting menu can set various safety functions to limit the movement of joints, robot
and TCP. Here, TCP means the location of the output flange center point added by the TCP
offset.