File Version: 3.2
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JAKA C Series Hardware User Manual
Appendix 2: Safety Function Table
SF
Item
Description
Safe State
Assessment Result
SF1
Emergency stop with
Estop Button on the
control box
Pressing the Estop button on the control box
results in a safe state
Cat. 1 stop
PLd/Cat.3
SF2
Emergency stop with
External Estop
Button
Pressing the external Estop button results in a
safety state. Emergency stop with External Estop
Button can only be bypassed by short circuit.
Cat. 1 stop
PLd/Cat.3
SF3
Safeguard
(Protective)Stop
This safety function is initiated by an external
protective device using
safety inputs which will initiate a safe state.
Safeguard stop input can only be bypassed by
short circuit.
Cat. 2 stop
PLd/Cat.3
SF5 Joint Speed Limit
Exceeding a joint speed limit results in a safe
state. Each joint can have its own limit.
Cat. 1 stop
PLd/Cat.3
SF6 Joint Torque Limit
Exceeding the joint torque limit results in a safe
state. Each joint can have its own limit.
Cat. 1 stop
PLd/Cat.3
SF7 Joint Power Limit
Exceeding the joint power limit results in a safe
state
Cat. 1 stop
PLd/Cat.3
SF12
TCP Position
Mismatch Limit
TCP real position and instruction position are
calculated and compared, if the mismatch
exceed position mismatch limit, a safe state is
initiated
Cat. 1 stop
PLd/Cat.3
SF14 Collision protection
Collision is estimated by multi methods
，
such as
Joint torque, joint position mismatch and TCP
position mismatch. Detection of collision initiate a
safe state.
Cat. 2 stop
PLd/Cat.3
SF15
Additional
Emergency Stop
Input
Additional Estop input pairs can be configured
to initiate a safe state
Cat. 1 stop
PLd/Cat.3
SF16
Additional Safeguard
Stop input
Additional safeguard stop input pairs can be
configured to initiate a safe state
Cat. 2 stop
PLd/Cat.3
SF17
Safeguard Reset
Input
When configured for Safeguard Reset and the
external connections transition from low to high,
the safeguard stop resets Safety input to initiate
a reset of safeguard stop safety function.
Reset from Cat. 2
stop
PLd/Cat.3
SF19
Estop Button State:
Digital Output
Estop Button State Output pairs can be
configured. When Estop Button on the control
box is pressed, these output pairs turn LOW.
Note that Emergency stop with External Estop
Button and Additional Emergency Stop input take
no effect to these outputs.
Two-channel
output signals
with high
impedance state
PLd/Cat.3
SF20
System Estop State:
Digital Output
Estop Button State Output pairs can be
configured
。
When the robot turns into Estop
state, these output pairs turn LOW. Estop Button
on the control box, Emergency stop with External
Estop Button and Additional Emergency Stop
input all take effect to these outputs.
Two-channel
output signals
with high
impedance state
PLd/Cat.3
Note: Refer to corresponding certificate for data of response time, MTTFd, and PFHd.
