2.4 Risk Assessment 18 Mobile Robot LD Safety Guide 18393-000 Rev H The PL achieved and the Probability of Dangerous Failure per Hour (PFH) are calculated using SISTEMA as per ISO 13849-1, based on requirements of EN 1525 and UL 3100, for the fol- lowing Safety Functions: No. LD-60, LD-90 and CT-xxx Function PL Achieved PFH [1/h] 1 ESTOP Logic - Speed Control. Forward and reverse con- trol. d 3.7E-7 2 Charge Contact Shutoff Circuit c 1.1E-6 3 ESTOP Logic - Emergency Stop (HMI Front Panel) e 3.4E-8 4 ESTOP Logic - User Emergency Stop (ESTOP)* e 3.6E-8 *The ESTOP pins on the User Interface connector are provided for use with a user- supplied external E-Stop.
The user is responsible for calculating the overall PL and PFH, inclusive of user-supplied components, and performing a final risk assessment. 5 LIDAR Velocity-Based Field Zone (Object Detection) d 1.7E-7 6 ESTOP Logic - Manual (Joystick) Override e 4.6E-8 The following safety function is applicable only to the Cart of the LD Platform Cart Transporter 7 Cart Transporter Brakes* c 1.1E-6 *Cart Transporter brakes safety function not evaluated per UL 3100, only per EN 1525. No. LD-250 Function PL Achieved PFH [1/h] 1 ESTOP Logic - Speed Control. Forward and reverse con- trol.
e 3.9E-8 2 Charge Contact Shutoff Circuit c 1.1E-6 3 ESTOP Logic - Emergency Stop (E-Stop buttons e 2.9E-8 4 ESTOP Logic - User Emergency Stop (ESTOP)* e 3.6E-8 *The ESTOP pins on the User Interface connector are provided for use with a user- supplied external E-Stop. The user is responsible for calculating the overall PL and PFH, inclusive of user-supplied components, and performing a final risk assessment. 5 LIDAR Velocity-Based Field Zone (Object Detection) d 1.2E-7 6 ESTOP Logic - Manual (Joystick) Override e 5.8E-8 posure Based on the risk assessment performed by Omron Robotics and Safety Technologies, Inc., the hazards associated with exposure to the AMR are minimal.
However, these significantly rely on the awareness and training of the personnel around the AMR. Along with common sense,