Hyundai YL005, Руководство по обслуживанию

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Maintenance manual for Collaborative Robot
Hyundai Robotics Safety | Risk assessment_
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1.3 Risk assessment
In composing a robot integrated system, risk assessment is so important a factor that most countries specify it as a
statutory requirement. Because safety assessments of robot installation vary depending on methods for integrating
robots into systems, the risks of robot integrated systems cannot be assessed only by robots themselves.
System administrators should carry out risk assessment on system composition and operation according to the
instructions specified in ISO 12100 and ISO 10218-2. The technical specifications of ISO/TS 15066 may be also
referred to.
Carry out risk assessment in consideration of the entire processes of the integrated system including robots. The
major objectives of risk assessment are as follows:
 Basic setting of robot use and robot teaching
 Problem diagnosis and maintenance
 Normal operation of installed robots
After installing robots and composing the system, risk assessment must be carried out. In risk assessment, the major
points to be determined include the adequacy of the safety devices of robot integrated systems, and the necessity
for additional emergency stop devices or other safety devices.
It is very important to compose robot integrated systems based on the identification of adequate safety devices.
Compose robot integrated systems referring to the relevant details of the manual.
For collaborative robots, it is possible to set TCP speed, pressure, power, momentum, collision detection, limit values
of reduction ratio, and limit values of joint-specific angles, speeds, and torques. In addition, safety functions can be
composed by using safety-related I/Os. For more details for the composition of safety functions, see the “Safety
Function Manual for Collaborative Robots.”
In the [Safety functions] menu, the safety-related functions of the collaborative robot can be set, including the
following:
 Force and power limits: Limit the force and pressure at which the robot should stop in case of collision between
the robot and an operator.
 Momentum limits: Limit energy and impact load by decreasing the robot's motion speed in case of collision
between the robot and an operator.

Joint and TCP position limits: Limit the robot's motion so that it does not move to body parts such as the user's
neck or head.
 TCP and tool posture limits: Limit motion to reduce risks relating to specific sections or characteristics of tools
and operating parts (e.g.: sharp points of tools or objects under operation).
 Speed limits: Limit the speed of the robot at a low speed so that an operator can escape collision with the
robot.
In addition, safety-related functions can be composed by installing the robot at a specific location or using safety
I/Os.
The major categories of the risk assessment of robot integrated systems include the following:

Collision severity of robots

Collision probability of robots

Collision avoidance probability of robots