Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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CHAPTER 3. SAFETY FUNCTIONS
3.1 INTRODUCTION
This chapter contains important safety information, which must be read and understood by
the integrator of the RB series collaborative robots before the robot is initially powered on.
RB series can protect users and devices by providing various safety functions and safety
device interfaces. Safety functions and interfaces meet Category 3, Performance Level d (PL
d) as described in ISO 13849-1 and Hardware Fault Tolerance 1, Safety Integrity Level 2 (SIL
2) as described in IEC 62061.
Caution
Caution:
1) Depending on the case of the robot installation, the system integrator must perform
a risk assessment, and accordingly, the workspace must be configured using safety
monitoring functions and interfaces.
2) If a fault is found in the robot's safety function or interface, Stop Category 0 is
initiated.
3) Examples of defects include broken cables in the emergency stop circuit, incorrect
wiring of additional safety devices, and non-overlapping wiring of additional safety
devices (refer to Section 5 of this chapter).
4) System integrators and operators must be informed that there is a safety monitoring
function that the robot performs internally, and the safety detection doesn’t involve
only the operation of the emergency stop switch and the operation of the protective
stop device, but also the position of the robot arm during task execution. The robot
can be stopped in the designated Stop mode even for movements above the
physical limit, such as speed, momentum, etc. (See Section 3 of this chapter for the
safety monitoring function).
5) System integrators and operators should be careful to mark the time and stopping
distance between the robot stopping due to the operation of the error and safety
monitoring functions described above. The system integrator must conduct a risk
assessment considering the stopping distance and time (see Section 4 of this
chapter).
6) System integrators and operators must be aware of the fact that there is a safety
monitoring function to limit the movement of the robot's joints and the robot/TCP,
and must select the range of motion of the robot. TCP refers to the position to
which the offset is added from the center point of the end of the robot arm.