Omron HD Safety Manual page 67

Function
#
SF4
SF5
SF6
SF7
31500-100 RevA
Safety Function
Emergency Stop
(Four E-Stop buttons
on the sides of the
HD-1500)
Safety Laser Scan-
ner Detection
Safe Motion Detec-
tion
Protective Stop Con-
nection on User
3
Panel*
Mobile Robot HD Safety Manual
Chapter 3: Safety Function Description
Description
must be attached to the connector. Refer to
HD-1500 Platform User's Manual (Cat. No.
I645) for specific information.
There are four E-Stop buttons on the sides of
the AMR (two E-Stop buttons on each side of
the AMR). Pressing any E-Stop button on the
sides of the AMR initiates the emergency stop
*1
(controlled stop) function. In this case, the
power to the AMR motors remains on in order
to achieve a controlled stop. Once the con-
trolled stop is achieved, the power to the
motors is disconnected.
SF4 has functional safety rating of Pld Cat-
2
egory 3* .
Each safety scanning laser has 70 safety
zones (1-70). When safety zones of the two
safety scanning lasers overlap, they create a
total of 41 safety zone pairs. If an obstacle
(such as a person) intrudes into the safety
zones, the safety scanning laser will trigger a
protective stop (category 1 stop). Since this is
also a controlled stop, the power to the AMR
motors remains on in order to achieve a con-
trolled stop. In such cases, the AMR safely
stops, and then resumes operation after a
delay of two seconds, and after confirming
that its protected zone is clear of obstacles.
SF5 has functional safety rating of Pld Cat-
2
egory 3* .
The SF6 monitors for overspeed and speed
inconsistency. The AMR linear speed is limited
to 1800 mm/s (both forward and backward).
If the calculated speed exceeds this speed lim-
its, the HD-1500 protective stop is triggered.
In such cases, the AMR safely stops, and
requires manual re-set.
SF6 has functional safety rating of Pld Cat-
2
egory 3* .
A user-supplied protective device can be
attached to the SCPU connection located on
the user access panel. The user-supplied pro-
tective device initiates a protective stop, and
resets automatically once the protective
device signal is cleared, and after a two-second
delay. If no user-supplied protective device is
connected to the user access panel SCPU con-
What is
controlled
AMR
AMR
AMR
AMR
67