C-21
166006-1CD
166006-1CD
Appendix C
S
RM2-755/1255SL
Positioner
S
Safeguard
A barrier guard, device or safety procedure designed for the protection of
personnel. (R15.06)
Safety Integrity Level
Safety Integrity Level (SIL) is IEC’s method for determining the
performance level of a safety system. SIL 2 corresponds to ISO
Performance Level “d”, and SIL 3 corresponds to ISO Performance Level
“e”. ISO 10218 allows for the use of either.
Safety Logic Circuit
The safety logic circuit monitors safety critical external devices such as
the light curtains and FSU generated signals. The safety logic circuit is
programmed via an intuitive user interface that is supported on the
Yaskawa programming pendant. It enables to set up the logical
operations, such as stopping the Manipulator or outputting a signal if the
servos are on.
Safety Monitored Stop
Collaborative feature designed to allow safe human-robot interaction.
Only when robot motion ceases can the human safety enter the
collaborative workspace. Servos can remain energized in accordance with
a category 2 stop in accordance with ISO 10218-1:2011, 5.4. A risk
assessment shall be used to determine if any additional safeguarding is
necessary to mitigate risks within the robot system.
Second Home Position
Apart from the “home position” of the Manipulator, the second home
position can be set up as a check point for absolute data. The initial value
of the second home position is the home position (where all axes are at
pulse 0). The second home position can be changed.
Security Mode
Levels of operator modes on the Controllers, include: Operation Mode,
Edit Mode, Management Mode, Safety Mode and One Time Management
mode.
Sensor
Instruments used as input devices for robots, which enable it to determine
aspects regarding the robot's environment, as well as the robot's own
positioning. Sensors respond to physical stimuli (such as heat, light,
sound, pressure, magnetism and motion), and they transmit the resulting
signal or data for providing a measurement, operating a control or both.
(R15.06)
Sensory Feedback
Variable data measured by sensors and relayed to the Controller in a
Closed-loop System. If the Controller receives feedback that lies outside
an acceptable range, then an error has occurred. The Controller sends an
error signal to the robot. The robot makes the necessary adjustments in
accordance with the error signal.
Servo Control
The process by which the control system of the robot checks if the
attained pose of the robot corresponds to the pose specified by the motion
planning with required performance and safety criteria. (ISO 8373)
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