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(2) Safety extension unit
Item
Safety
STO function
function
Note1)
SS1 function
SS2 function
SOS function
SLS function
SLP function
STR function
Safety per-
Standard
formance
Performance
Note2)
Dangerous
failure rate
Note4)
The function electrically shuts off the driving
energy to the motor of the robot arm.
The function to control and decelerate the
motor speeds of the robot. After stopping, the
robot transitions to the STO state.
The function to control and decelerate the
motor speeds of the robot. After stopping, the
robot transitions to the SOS state.
Without shutting off the driving energy to the
motors, this function monitors the robot so
that it stays at rest.
This is a function to monitor each part of the
robot arm so that their speeds do not exceed
monitoring speeds.
The function monitors specified monitoring
positions so that they do not go across posi-
tion monitoring planes.
This function ensures that the torque limits of
each motor in the robot are not exceeded.
EN ISO 10218-1: 2011
ISO/TS 15066: 2016
EN ISO 13849-1: 2015
IEC 61800-5-1: 2007
EN 61800-5-2: 2017
EN 61000-6-7: 2015
EN 61326-3-1: 2017
IEC 61508-1: 2010
IEC 61508-2: 2010
IEC 61508-3: 2010
EN 62061: 2005/A2: 2015
IEC 62061: 2005/AMD1: 2012/AMD2: 2015
STO
SIL2, PLd/Category 3 (at factory settings)
SIL3, PLe/Category 4 (with changes to
parameters)
SS1,SOS,SS2,
SIL 2, PLd/Category 3
SLS,SLP, STR
STO
PFH = 1.40×10
SS1,SS2,SOS
PFH = 3.42×10
SLS
PFH = 3.42×10
SLP
PFH = 3.42×10
STR
PFH = 3.62×10
Description
Note3)
-8
[1/h]
-7
[1/h]
-7
[1/h]
-7
[1/h]
-7
[1/h]
3 Controller
Remarks
IEC 60204-1
Corresponds to stop category 0
IEC 60204-1
Corresponds to stop category 1
IEC 60204-1
Corresponds to stop category 2
When SOS, SLS, SLP, and STR
detect error, activate SS1.
EN 61800-5-2 compliant
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Standard specifications 3-43
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