l Category 0 and 1 result in the removal of drive power, with Cat 0 being IMMEDIATE and Cat 1 being a controlled stop (decelerate, then removal of power). E-Stop is either Cat 0 or Cat 1. *2 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 Safety Functions listed in Table 3-1. . *3 According to EN 1525, the field sets only need to be active when the robot is driving faster than 300 mm/s. * 4 Robot core is a safety logic core designed per ISO 13849-1 recommendations for SRESW (Safety Rated Embedded Software, Clause 4.6.2).
*5 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. NOTE: According to EN 1525, personnel detection means (example LIDARs) are not required or may be deactivated when a truck is working in a restricted zone or in the manual mode operation. NOTE: According to EN 1525, when the truck is removed from the charging points, the charging connections shall be deactivated. The safety related parts of these systems shall be in accordance with EN 954-1 category 1.
28 Mobile Robot LD Safety Guide 18393-000 Rev H