Omron HD-1500 Assembly Instructions Manual page 69

Safety Func-
tion
Emergency stop
connection on
User Access
*3
Panel
E-stop buttons
on sides of
*2
AMR
Safety Laser
Scanner detec-
*2
tion
HD-1500 Platform Assembly Instructions (18407-150)
Safety
Reset Type
Stop Type
Emergency Manual Re-
Stop set
Emergency Manual Re-
Stop set
Protective Automatic
Stop Reset
Description
User-supplied E-stop button(s)
can be attached to the SCPU
connection located on the user
access panel. Pressing the
user-supplied E-stop button(s)
results in an emergency stop
(controlled 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 discon-
nected. The final functional
safety rating is to be calculated
using the given PFHd value
(logic and output) combined
with the user-supplied E-stop
(input) PFHd values.
Refer to HD-1500 Platform
User's Manual (Ca. No. I645)
for more information.
Pressing any E-stop button on
the sides of the AMR initiates
the emergency stop (controlled
*1
stop) function. 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 discon-
nected.
If an obstacle intrudes into the
safety zones, the Safety Laser
Scanner will trigger a protec-
tive stop (category 1 stop).
Since this is also a controlled
stop, the power to the AMR
motors remains ON in order to
achieve a controlled stop. In
such cases, the AMR safely
stops and then resumes oper-
ation after a delay of two sec-
onds after confirming that its
protected zone is clear of ob-
stacles.
2 Specifications
PL Category PFHd
To be 3 5.79E-
deter- 08
mined
by the
user
d 3 5.67E-
07
d 3 6.50E-
07
2-13
2