JAKA Zu Series, Оригинальное руководство пользователя

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File Version: 3.4 72 / 73 JAKA Zu Series Hardware User Manual
Appendix 2: Safety Functions Table
SF Item Description
Assessment
result
Stop category
SF1 Estop with Estop
interface on the
control cabinet Connecting the Estop interface on the control
cabinet will result in a safety state. PLd/Cat.3 Cat.1 stop
SF2 Estop with
external Estop
button
Pressing the external Estop button will result
in a safety state. Emergency stop with
External Estop Button can only be bypassed
by short circuit. PLd/Cat.3 Cat.1 stop
SF3 Protective stop Protective stop PLd/Cat.3 Cat.2 stop
SF5 Joint speed limit Exceeding a joint speed limit results in a
safety state. Each joint can have its own limit. PLd/Cat.3 Cat.1 stop
SF6 Joint torque limit Exceeding the joint torque limit results in a
safety state. Each joint can have its own limit.
PLd/Cat.3 Cat.1 stop
SF7 Joint power limit Exceeding the joint power limit results in a
safety state. PLd/Cat.3 Cat.1 stop
SF12 TCP position
mismatch limit
TCP real position and command position are
calculated and compared, if the mismatch
exceed position mismatch limit, a safety state
is initiated. PLd/Cat.3 Cat.1 stop
SF14 Collision
protection Collision is monitored by various feedback
parameters. Such as Joint torque, joint
position and TCP position mismatch.
Detection of collision initiate a safety state. PLd/Cat.3 Cat.2 stop
SF15 Additional
Emergency Stop
Input Additional Estop input pairs can be configured
to initiate a safety state. When this input is low,
the robot executes a protective stop. PLd/Cat.3 Cat.1 stop
SF16 Additional
protective stop
input Additional protective stop input pairs can be
configured to initiate a safety state. When this
input is low, the robot executes a protective
stop. PLd/Cat.3 Cat.2 stop
SF17 Protective reset
input When configured for protective reset and the
external connections transition from low to
high, the protective stop resets safety input to
initiate a reset of protective stop safety
function. PLd/Cat.3 Reset from
Cat.2 stop
SF19 Estop button
state: digital
output
Estop button state output pairs can be
configured. When Estop button on the control
cabinet 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. PLd/Cat.3 Two output
signals with
high
impedance
state
SF20 System Estop
state: digital
output
Estop button state output pairs can be
configured. 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 cabinet, Estop with
external Estop button and additional Estop
input all take effect to these outputs. PLd/Cat.3 Two output
signals with
high
impedance
state
Note: Refer to corresponding certificate for data of response time, MTTFd, and PFHd.