Appendix 2: Safety Function Table - JAKA C Series Hardware User Manual

Appendix 2: Safety Function Table

SF Item
Emergency stop with
SF1 Estop Button on the
control box
Emergency stop with
SF2 External Estop
Button
Safeguard
SF3
(Protective)Stop
SF5 Joint Speed Limit
SF6 Joint Torque Limit
SF7 Joint Power Limit
TCP Position
SF12
Mismatch Limit
SF14 Collision protection
Additional
SF15 Emergency Stop
Input
Additional Safeguard
SF16
Stop input
Safeguard Reset
SF17
Input
Estop Button State:
SF19
Digital Output
System Estop State:
SF20
Digital Output
Note: Refer to corresponding certificate for data of response time, MTTFd, and PFHd.
File Version: 3.2
Description
Pressing the Estop button on the control box
results in a safe state
Pressing the external Estop button results in a
safety state. Emergency stop with External Estop
Button can only be bypassed by short circuit.
This safety function is initiated by an external
protective device using
safety inputs which will initiate a safe state.
Safeguard stop input can only be bypassed by
short circuit.
Exceeding a joint speed limit results in a safe
state. Each joint can have its own limit.
Exceeding the joint torque limit results in a safe
state. Each joint can have its own limit.
Exceeding the joint power limit results in a safe
state
TCP real position and instruction position are
calculated and compared, if the mismatch
exceed position mismatch limit, a safe state is
initiated
Collision is estimated by multi methods，such as
Joint torque, joint position mismatch and TCP
position mismatch. Detection of collision initiate a
safe state.
Additional Estop input pairs can be configured
to initiate a safe state
Additional safeguard stop input pairs can be
configured to initiate a safe state
When configured for Safeguard Reset and the
external connections transition from low to high,
the safeguard stop resets Safety input to initiate
a reset of safeguard stop safety function.
Estop Button State Output pairs can be
configured. When Estop Button on the control
box is pressed, these output pairs turn LOW.
Note that Emergency stop with External Estop
Button and Additional Emergency Stop input take
no effect to these outputs.
Estop Button State Output pairs can be
configured。When the robot turns into Estop
state, these output pairs turn LOW. Estop Button
on the control box, Emergency stop with External
Estop Button and Additional Emergency Stop
input all take effect to these outputs.
Safe State
Cat. 1 stop
Cat. 1 stop
Cat. 2 stop
Cat. 1 stop
Cat. 1 stop
Cat. 1 stop
Cat. 1 stop
Cat. 2 stop
Cat. 1 stop
Cat. 2 stop
Reset from Cat. 2
Two-channel
output signals
impedance state
Two-channel
output signals
impedance state
61 / 62
Assessment Result
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
PLd/Cat.3
stop
PLd/Cat.3
with high
PLd/Cat.3
with high
JAKA C Series Hardware User Manual