Chapter 3: Safety Function Description 18393-000 Rev H Mobile Robot LD Safety Guide 27 Table 3-2. Safety Function (SF) Descriptions Function # Safety Function Description What is controlled SF0 Emergency Stop (One on LD-60, LD- 90 and LD-xxxC T, three on the LD-250 Pressing any E-Stop button results in Cat 1 stop according to IEC 60204-1(NFPA 79)*1. The vehicle will decelerate at a constant rate to complete stop, power will be removed from the left/right motor after a time delay and hold- ing brakes will be engaged. SF0 has functional safety rating of Ple Category 3*2 . Robot SF1 LIDAR Velocity- Based Field Zone The safety LIDAR has a total of 8 field sets.
The field sets*3 correspond to field zones con- sisting of protective fields and warning fields. If the robot is driving faster than 300 mm/s with an active field set and an obstacle (like a per- son) intrudes into that field set, the LIDAR will trigger the LD E-STOP circuitry. This mech- anism starts a controlled ESTOP event on the LD robot. SF1 has functional safety rating of Pld Category 3*2. Robot SF2 User E-Stop*5 (Internal logic and output) User supplied E-STOP button can be attached to the USER interface connector robot con- troller. Pressing the USER connected ESTOP results in Cat 1 stop according to IEC 60204-1 (NFPA 79)*1.
The vehicle will decelerate at a constant rate to complete stop, power will be removed from the left/right motor after a time delay and holding brakes will be engaged. SF2 has functional safety rating of Ple Category 3*2. If no user ESTOP is wired to the core then an ESTOP jumper must be attached to the con- nector. See user guide for specific information. Robot SF3 Speed control. Forward and reverse control. The LD robot core*4 calculates robot speed from redundant wheel sensors (rotary encoders). Robot reverse speed is limited to 300 mm/s and forward speed is limited to 2100 mm/s. If the calculated speed exceeds the forward or reverse speed limits, the LD E- STOP circuitry is triggered.
SF3 has functional safety rating of Pld for the LD-60, LD-90 and CT-xxx and Ple for the LD-250, Category 3*2. Robot SF4 Manual (Joystick) Bypass Detection An external joystick is used in manual mode to drive the robot under operator control. A dual- channel trigger on the joystick bypasses the LIDAR safety zone detection allowing oper- ation at speed under operator control. SF4 has functional safety rating of Ple Category 3*2. Robot *1 Stop Categories according to IEC 60204-1 (NFPA79)