B&R has extended the safety function, “Safely Limited Speed at Tool Center Point,” making it possible to monitor the full spectrum of serial robot types in a safety application. This is a significant advance on the function first introduced in 2011, which so far has already allowed safe monitoring of all joints on a 6-axis articulated arm robot.
To take advantage of this extended functionality, the company offers a parameter block for generic serial robots that makes it possible to configure any type of kinematic chain. This removes any restrictions on specific types of robots and allows users to define and configure their own custom kinematic systems with up to 11 separate joints. It is also possible to include up to 20 joint couplings with coupling factors, allowing users to incorporate mechanical couplings between individual axes as well.
Safely monitoring speed relies on safe axis position data. These data are provided by ACOPOSmulti servo drives with their integrated SafeMC functionality. TÜV-certified SafeROBOTICS function blocks in the safety application use these positions to calculate the absolute speeds of the joints, tool mounting flange and tool center point. Because data are transferred through the fieldbus-independent openSAFETY protocol, users have the freedom to choose the control system that best fits their needs. The safety functions themselves are executed directly on the drives.
Filed Under: The Robot Report, Drives (servo) + amplifiers, INDUSTRIAL SAFETY SYSTEMS, MOTION CONTROL