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3.4.2
Discrete EMERGENCY STOP
Safety function
Discrete EMERGENCY STOP
Discrete EMERGENCY STOP is triggered by
• Externally triggered customer EMERGENCY STOP on discretely wired safety circuit
• Determined diagnosis error of the safety PLC
• Determined diagnosis error during self-diagnosis of the sensor skin
• EMERGENCY STOP by end effector
In case of a discrete EMERGENCY STOP, the safety stop 1 without automatic restart
is triggered.
The cause of the error must be determined and remedied before a restart can be
performed.
The triggering EMERGENCY STOP device, e.g. at the end effector, must comply
with the following requirements in order to achieve the performance level of the
safety function stated above:
• Discrete I/Os, two-channel redundant, NC priority controlled
• Contacts are floating
• The EMERGENCY STOP device achieves a B10D value of 100,000 cycles
per channel, corresponding to the typical component values for an
EMERGENCY STOP system as per IEC 60947 and ISO 13850.
• Maximum demand rate ≤ 3840 cycles per year or MTTFd ≥ 260.4 a
3.4.3
Local EMERGENCY STOP
Safety function
Local EMERGENCY STOP
A local emergency stop is triggered when the robot system signals a local
emergency stop. The safety function is used to interrupt electrical or safety circuits
in application-specific actuators which are connected to the robot system.
When a local emergency stop is triggered, actuators in the periphery of the
APAS assistant K1100-10i are moved into their respective safe state. Since the
safe states are only known to the system integrator, he/she is required to put these
actuators into a safe state.
The cause of the error must be determined and remedied before the actuator may
leave its safe state.
Actuators in the periphery which are included in this safety function must fulfill the
following requirements to achieve the performance level stated above:
• suitable for PL d
• PFHd ≤ 1E-7 1/h
• Relays with two assigned channels on the input side, with priority-controlled,
floating auxiliary contacts
3 842 565 050/2019-11 APAS assistant K1100-10i V01.00.00 - V01.00.99, Bosch Rexroth AG
Product description
Achieved
PFHD [1/h]
performance level
PL d
1,4E-7
Achieved
PFHD [1/h]
performance level
PL d
2E-7
19/68
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