Safety-rated Monitoring Function

Doosan Robotics provides safety-rated monitoring function which can be used as a risk reduction measure for risk assessments. The limit of each monitoring function can be configured through Workcell Manager > Robot > Robot Limits of the Teach Pendent UI.

Note

Safety limits is the condition where the safety-rated monitoring function triggers the stop function. When stop is completed, the position of the robot and force applied externally may differ from the configured safety limit.
PFHd (Probability of a dangerous Failure per Hour): The probability of dangerous failures of safety-related system/subsystem per hour
PL (Performance Level): The performance level of safety-related components (SRP/CS) of control system according to ISO 13849-1
SIL (Safety integrity level): The safety integrity level of safety-related electronic control systems (SRECS or SCS) according to IEC 62061

	Safety Function	Safety Function Trigger Condition Triggering Event	Intended Action Intended Result	PFHd	PL, SIL
1	SOS (Safe Operating Stop)	The current position is maintained with power supplied to the motor and the brake disengaged (Servo ON state). If the angle of one axis exceeds a certain angle when stopped	STO	1.41E-7 /h	PL d Cat. 3 SIL 2
2	SLP Joint Angle Limit SLP (Joint Angle Limit)	If any of the axis angles exceed the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. STO, SS1, or SS2	1.41E-7 /h	PL d Cat. 3 SIL 2
3	SLS Joint Speed Limit SLS (Joint Speed Limit)	If any of the axis speeds exceed the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, or SS2 H series: SS1, or SS2	1.41E-7 /h	PL d Cat. 3 SIL 2
4	SLT Joint Torque Limit SLT (Joint Torque Limit)	If the torque applied to each axis exceeds the predefined limit	Emergency Stop is engaged according to the configured safety stop mode. STO	1.94E-7 /h	PL d Cat. 3 SIL 2
5	Collision Detection Collision Detection	If any of the torques applied to each axis exceed the limit for configured collision detection sensitivity	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, SS2, or RS1 H series: SS1, SS2, or RS1 Stop Mode for Collaborative Zone and Standalone Zone can be set individually.	1.94E-7 /h	PL d Cat. 3 SIL 2
6	TCP/Robot Position Limit TCP/Robot Position Limit	If the TCP or robot (including Tool Shape) exceeds or violates the configured range of the space limit	Emergency Stop is engaged according to the configured Safety Stop Mode. STO, SS1, or SS2	1.41E-7 /h	PL d Cat. 3 SIL 2
7	TCP Orientation Limit TCP Orientation Limit	If the difference between the set direction and the TCP direction within Tool Orientation Limit Zone exceeds the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, or SS2 H series: SS1, or SS2	1.41E-7 /h	PL d Cat. 3 SIL 2
8	TCP Speed Limit TCP Speed Limit	If the TCP speed exceeds the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, or SS2 H series: SS1, or SS2	1.41E-7 /h	PL d Cat. 3 SIL 2
9	TCP Force Limit TCP Force Limit	If the external force applied to the TCP exceeds the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, SS2, or RS1 H series: SS1, SS2, or RS1 Stop Mode for Collaborative Zone and Standalone Zone can be set individually.	1.94E-7 /h	PL d Cat. 3 SIL 2
10	Robot Momentum Limit Robot Momentum Limit	If the momentum of the robot exceeds the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, or SS2 H series: SS1, or SS2	1.41E-7 /h	PL d Cat. 3 SIL 2
11	Robot Power Limit Robot Power Limit	If the mechanical power of the robot exceeds the configured limit	Emergency Stop is engaged according to the configured Safety Stop Mode. M series: STO, SS1, or SS2 H series: SS1, or SS2	1.94E-7 /h	PL d Cat. 3 SIL 2