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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3.3 FUNCTIONAL SAFETY
The manufacturer recommends the following conditions are met for the installation location.
The safety functions of the collaborative robot RB series are used to reduce the risk of the
robot system determined by risk assessment.
The parameters of the safety function are set at the factory, and the system integrator can
change some items based on the risk assessment. The base of the robot has the controls
for position and speed items/features.
The following is the safety function specifications for RB series.
Safety Function PL & Category
Safety stopping
functions
SF.1 STO (Safe Torque Off) PL d, Category 3
SF.2 SS1 (Safe Stop 1) PL d, Category 3
SF.3 SS2 (Safe Stop 2) PL d, Category 3
Safety
monitoring
functions
SF.4 SOS (Safe Operating Stop) PL d, Category 3
SF.5 SLP (Safely-Limited Position) PL d, Category 3
SF.6 SLS (Safely-Limited Speed) PL d, Category 3
SF.7 SLA (Safely-Limited Acceleration) PL d, Category 3
SF.8 SLI (Safely-Limited Increment) PL d, Category 3
SF.9 SLT (Safely-Limited Torque) PL d, Category 3
SF.10 RPL (Robot Position Limit) PL d, Category 3
SF.11 TSL (TCP Speed Limit) PL d, Category 3
SF.12 CBPL (Control Box Power Limit) PL d, Category 3
Emergency stop
SF.13 EMS1 (Emergency Stop1) PL d, Category 3
SF.14 EMS2 (Emergency Stop2) PL d, Category 3
Protective stop
SF.15 PRS (Protective Stop) PL d, Category 3
SF.16 HSS (Hard Safeguard Stop) PL d, Category 3
SF.17 SSS (Soft Safeguard Stop) PL d, Category 3
- STO(Safe Torque Off): This function prevents force-producing power from being provided
to the motor. Power that can cause rotation is not applied to the motor. This safety sub-
function corresponds to an uncontrolled stop, according to stop category 0 of IEC 60204-1.
- SS1(Safe Stop 1) : This function is specified as either a.) SS1-d (Safe-Stop 1 deceleration
controlled) initiates and controls the motor deceleration rate within selected limits to stop
the motor and performs the STO function when the motor speed is below a specified limit; or