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devices are installed. Installing or operating the equipment should be done by a trained engineer.
(4) For the safety monitoring function, perform the wiring separately from other signal wirings.
(5) Protect cables by appropriate means (installing inside the control panel, using a cable guard, etc.).
(6) It is recommended to use switches, relays, sensors, etc. conforming to safety standards. For using switches,
relays, sensors, etc. not conforming to safety standards, sufficient verification of safety is necessary on the
customer side.
(7) The safety function only works for the robot controller and the robot. The function covers no additional axes
(additional robot axes, user mechanisms). When using an additional axis, the customer needs to ensure and
assess the safety of the axis.
(8) To perform the initial test of the robot, power cycle it regularly. The initial test should be performed at least
every six months.
Residual Risk (Specific to Each Function)
1.5.2
(1) STO function
This function interrupts transmission of power to the motor installed in the robot arm, and may bring variation to
the posture of the robot arms due to mechanical factors, such as a timing belt break or brake wear, etc. of the
robot arm. Periodic maintenance of the robot arm is required. Depending on the posture of the robot, the arm may
droop if the axis does not have a brake.
(2) SS1function
This function controls and decelerates the motor speed installed to a robot arm. The movement cannot be stopped
immediately after deceleration is started.
(3) SS2 function
This function controls and decelerates the motor speed installed to a robot arm. The movement cannot be stopped
immediately after deceleration is started.
(4) SOS function
This function monitors motors installed in the robot so that they stay at rest. Mechanical factors, such as break of
timing belts of the robot, may bring variation to the posture of the robot. Periodic maintenance of the robot arm is
required.
(5) SLS function
This function monitors the speed of each part of the robot arm and tools specified beforehand. Depending on the
robot posture, some undefined parts may move at a speed higher than the monitoring speed.
This function is only enabled when the robot is in the servo-on state and therefore does not monitor the speed
when the robot is in the servo-off state.
(6) SLP function
In the following cases, the monitoring position may go across a position monitoring plane or a position monitoring
area. The following shows some concrete examples.
• When the position monitoring plane is applied, the robot position is beyond the plane.
• When the position monitoring plane is applied, the robot is moving near the plane at a high speed.
• The robot posture changes when the robot brake is released.
(7) Safety communication function
This function sends/receives safety data to/from the safety programmable controller to perform safety control of
the robot and system. To make the system always operate safely at error occurrence, take appropriate safety
measures for the system according to safety standards. Safety measures must be taken regarding robot
controller's safety logic settings, safety programmable controller's safety programs, and devices in the system
appropriately. If the robot controller detects a safety communication error, the robot will be stopped safely by the
SS1 function, and the safety input of the safety communication function will turn OFF. Additionally, if a system
error occurs, the safety response time will be delayed by the time specified in the protocol at maximum.
1 FUNCTIONS AND CONFIGURATION
Risk Assessment 1-7
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