General
• Monitoring: reflects status on safe output
• Supervision: violations will e-stop the robot
• Category 0 or 1 stop can be selected
Safe robot speed
• Speed 0-250 mm/s
• Maximum as well as minimum (e.g. for laser cutting) speed supervision
• Checks tool, flange and elbow
• Supervision only
Safe stand-still
• Up to 4 sets of 1-9 axes each
• Supervision and/or monitoring
• Reduces stopping distances substantially
Safe tool zone
• 8 TCP zones (inclusive or exclusive)
• Each zone defined by 3-8 coordinates (x, y) with arbitrary z extension
• 1-3 additional axes limits can be combined with a zone
• Tool orientation zones can be combined with a TCP zone
• Supervision and/or monitoring
Safe axis speed
• 1 set of axis speed limits for axis 1-9
• Supervision only
Safe axis range
• 8 sets of axis limits (min and max per axis 1-9)
• Supervision and/or monitoring
Safe tool change
• Possible to switch between four different tools
Robot geometry
• Supervision of elbow, flange
• Supervision of eight points around the perimeter of the tool
Communication
• 8 safe inputs for dynamic activation of functions
• 8 safe outputs for communicating status to safety switchgear
• Virtual IO read access from Rapid
Configuration
• Performed in RobotStudio. Activation by pin code, by authorized Safety User only.
Safety regulations
• Machinery Directive 98/37/EC, ISO 13849-1, ISO 10218-1
Safety category
• Category 3 according to ISO 13849-1/EN 954
Remark: In a separate product, Electronic Position Switches, safe axis range is available for 7 axes with 5 sets of axis limits.