Risk Assessment; Residual Risk (Common) - Mitsubishi Electric RV-FR Series Instruction Manual

1 FUNCTIONS AND CONFIGURATION
Safety Safety level
performance (Note 2)
Dangerous
failure rate
(Note 2)
Note 1: For details on setting the pulse test for the input, refer to the following section:
4.6.1 Test pulse diagnosis (EMG)
Note 2: This table shows the safety level and dangerous failure rate of the robot controller. When constructing
systems such as safety programmable controller programs and settings, and safety I/O devices, adopt a
safe design and evaluate the safety.
* This table shows the specifications of robot controllers.
* Connect the robot controller's emergency stop input, door switch input, and mode selector switch input as
described in the Standard Specifications Manual.
* The safety communication function cannot be used together with the robot safety option (4F-SF002-01).
* For information on network specifications such as the maximum number of connectable devices per network,
refer to the following manuals.
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)
* For information on transmission delay times, safety response times, and safe stopping distances, refer to the
following sections.
4.7.4 Transmission delay time, 7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE

1.5 Risk Assessment

To ensure safety, the user needs to assess all the risks and determine residual risks for the mechanical system
as a whole. Companies or individuals who configure the system will accept full responsibility for installation and
authorization of the safety system. Assessment for all risks and safety level certification are required for the
equipment/system as a whole. The following shows residual risks related to the safety monitoring function of this
product.

Residual Risk (Common)

1.5.1
(1) If the origin setting, parameter settings or programs of the robot are incorrect, unexpected operation may occur
and safety cannot be ensured. Fully check whether operations are as intended.
(2) Until correct installation, wiring, and adjustment are achieved, safety cannot be ensured.
(3) Only a qualified person is given the authority to install, start, repair, adjust, etc. the equipment to which
1-6 Risk Assessment
Item
STO
SS1, SOS,
SS2, SLS, SLP
STO
SS1, SOS,
SS2, SLS, SLP
Description
SIL 3, PLe/Category 4
SIL 2, PLd/Category 3
SIL 2, PLd/Category 3
PFH = 1.40 10 [1/h]
-8
×
PFH = 3.42 10 [1/h]
-7
×
Remarks
Safety
communication
function, external
emergency stop
input (when the
test pulse
diagnosis is set)
(Note 1)
External
emergency stop
input (at factory
settings)
Safety
communication
function
Safety
communication
function, external
emergency stop
input (when the
test pulse
diagnosis is set)
(Note 1)
Safety
communication
function