Pld Cat3 Safety Function - OnRobot HANWHA 3FG15 User Manual

Safety

2.5 PLd CAT3 Safety Function

RG2
RG6
A safety-rated function has been designed as two buttons at the two arms of the product,
conforming to ISO 13849-1 PLd CAT3.
This Safety Function has a max response time of 100 ms and a MTTF of 2883 years.
The behavior of the safety system is described below:
If something activates the two Safety Buttons, see picture below, the safety control system
stops motion of the two arms of the product. Motion is then prevented as long as one or both
of the two buttons are activated.
If this happens while running the robot program, user can detect this condition with the help
of the provided status information and execute any necessary step on the robot.
To come back to normal operation with the gripper there are provided commands to reset the
gripper.
CAUTION:
Before resetting the gripper always make sure that no part will be
dropped due to the loss of gripper power. If Dual Quick Changer
is used it will cycle the power for both sides.
For further details refer to the Operation section.
PLd CAT3 Safety Buttons
9