Omron MD-900 User Manual page 99

Safety Function
Emergency stop
*2
connection(s)
Enabling device on
Pendant
Safety Laser Scan-
ner detection
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
Safety Reset
Stop Type Type
Emergency Manual User-supplied E-STOP
Stop Reset button(s) can be attached
to the SCPU connection
located in the User Con-
nections area. Pressing
the user-supplied E-STOP
button(s) results in an
emergency stop (control-
led stop). In this case, the
power to the AMR motors
remains ON in order to
achieve a controlled stop.
Once the controlled stop
is achieved, the power to
the motors is disconnect-
ed. The final functional
safety rating is to be cal-
culated using the given
PFHd value (logic and
output) combined with the
user-supplied emergency
stop (input) PFHd values.
Emergency Manual When the enabling device
Stop Reset is not depressed or com-
pletely depressed, an
emergency stop (control-
led stop) will occur. In this
case, the power to the
AMR motors remains ON
in order to achieve a con-
trolled stop. Once the
controlled stop is ach-
ieved, the power to the
motors is disconnected.
Protective Auto- If an obstacle intrudes in-
Stop matic to the safety zones, the
Reset Safety Laser Scanner will
trigger a protective stop
(category 1 stop
this is also a controlled
stop, the power to the
AMR motors remains ON
in order to achieve a con-
trolled stop. Once the
controlled stop is ach-
ieved, the power to the
motors is disconnected. If
the safety zone intrusion
is cleared of the obstacle,
the AMR will automatical-
ly restart and resume op-
eration after a delay of 2.5
seconds.
Description PL
To be
deter-
mined
by the
user
e
d
*1
). Since
2 Specifications
Category PFHd
3
-8
5.79 x 10
3
-8
5.79 x 10
3
-7
5.68 x 10
2-21
2