6 horstCONTROL I/O
45
6.4.8.4
Safety Stop
The robot should be stopped safely as soon as the pro-
tected area of a safety laser scanner is entered. The first
example shows the connection of a laser scanner when
using the internal test signal. This is routed to the control
inputs of the laser scanner; its outputs are, in turn, routed
to the safety stop input of the main control.
Some laser scanners are intended for the use of a sepa-
rate OSSD signal. In this case, only their outputs must be
routed to the safety stop input of the main control. In this
configuration, the cross-circuit recognition must be deac-
tivated in horstFX and the filter time set greater than the
test impulse of the protection device (see
In both cases, the safety stop must be acknowl-
edged manually after exiting the area. The adjacent
example shows the options for connecting a safety
stop with automatic continuation. Here, the laser
scanner is connected to a configurable safe input
and this input is assigned the
Self-triggering safety
stop
function.
Fig. 6-20: Safety stop: Laser Scanner with Internal
Test Signal
Fig. 6-21: Safety stop: Laser Scanner with External
Test Signal
Fig. 6-22: Self-triggering safety stop
Summary of Contents for HORST900
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