PROFIsafe

Description

The PROFIsafe network protocol (implemented as version 2.6.1) allows the robot to communicate with a safety PLC according to ISO 13849, Cat 3 PLd requirements. The robot transmits safety state information to a safety PLC, then receives information to trigger safety related functions, such as: emergency stop or enter reduced mode.

The PROFIsafe interface provides a safe, network-based alternative to connecting wires to the safety IO pins of the robot control box.

PROFIsafe is only available on robots that have an enabling license, which you can obtain by contacting your local sales representative, once obtained, the license can be downloaded on myUR.

Please refer to Robot Registration and License File for information regarding robot registration and license activation.

 
Advanced Options

A control message received from the safety PLC contains the information in the table below.

Signal Description
E-Stop by system Asserts the system e-stop.
Safeguard stop Asserts the safeguard stop.
Reset safeguard stop Resets safeguard stop state (on low-to-high transition in automatic mode) if the safeguard stop input is cleared beforehand.
Safeguard stop auto

Asserts safeguard stop if the robot is operating in Automatic mode.

Safeguard stop auto shall only be used when a 3-Position Enabling (3PE) Device is configured. If no 3PE Device is configured, the safeguard stop auto acts as a normal safeguard stop input.
Reset safeguard stop auto Resets safeguard stop auto state (on low-to-high transition when in automatic mode) if safeguard stop auto inputs are cleared beforehand.
Reduced mode Activates the Reduced mode safety limits.
Operational mode

Activates either manual or automatic operational mode. If the safety configuration "Operational mode selection via PROFIsafe" is disabled, this field shall be omitted from the PROFIsafe control message.

 

  

 
Advanced Options

A status message sent to the safety PLC contains the information in the table below.

Signal Description
Stop, cat. 0 Robot is performing, or it has completed, a safety stop of category 0; A hard stop by immediate removal of power to the arm and the motors.
Stop, cat. 1 Robot is performing, or it has completed, a safety stop of category 1; A controlled stop after which the motors are left in a power off state with brakes engaged.
Stop, cat. 2 Robot is performing, or it has completed, a safety stop of category 2; A controlled stop after which the motors are left in a power on state.
Violation Robot is stopped because the safety system failed to comply with the safety limits currently defined.
Fault Robot is stopped because of an unexpected exceptional error in the safety system.
E-stop by system Robot is stopped because of one of the following conditions:
  • a safety PLC connected via PROFIsafe has asserted system level e-stop.
  • an IMMI module connected to the control box has asserted a system level e-stop.
  • a unit connected to the system e-stop configurable safety input of the control box has asserted system level e-stop.
E-stop by robot The robot is stopped because of one of the following conditions:
  • The e-stop button of the teach pendant is pressed.
  • An e-stop button connected to the robot e-stop non-configurable safety input of the control box is pressed.
Safeguard stop The robot is stopped due to one of the following conditions:
  • A safety PLC connected via PROFIsafe has asserted the safeguard stop.
  • A unit connected to the safeguard stop non-configurable input of the control box has asserted the safeguard stop.
  • A unit connected to the safeguard stop configurable safety input of the control box has asserted the safeguard stop.

The signal follows the safeguard reset semantics. A configured safeguard stop reset functionality shall be used to reset this signal.

PROFIsafe implies use of the safeguard reset functionality.
Advanced Options
Signal Description
Safeguard stop auto The robot is stopped because it is operating in Automatic mode and because of one of the following conditions:
  • A safety PLC connected via PROFIsafe has asserted safeguard stop auto.
  • A unit connected to a safeguard stop auto configurable safety input of the control box has asserted safeguard stop auto.

The signal follows the safeguard reset semantics. A configured safeguard stop reset functionality shall be used to reset this signal

PROFIsafe implies use of the safeguard reset functionality
3PE stop Robot is stopped because it is operating in Manual mode and because of one of the following conditions:
  • You are using a 3PE TP and none of the buttons are in the middle position.
  • A 3-position enabling device connected to a configurable safety input of the control box has asserted the 3PE stop.
Operational mode

Indication of the current operational mode of the robot.

This mode can be: Disabled (0), Automatic (1), or Manual (2).
Reduced mode Reduced mode safety limits are currently active.
Active limit set

The active set of safety limits.

This can be: Normal (0), Reduced (1), or Recovery (2).
Robot moving Robot is moving. If any joint moves at a velocity of 0.02 rad/s or higher the robot is considered in motion.

Safe home position

Robot is at rest (robot not moving), and in the position defined as the Safe Home Position.
Configuring PROFIsafe

Configuring PROFIsafe relates to programming the safety PLC, but requires minimal robot setup.

  1. Connect the robot to a trusted network that accesses a safety compliant PLC.

  2. On PolyScope, in the Header, tap Installation.

  3. Tap Safety, select PROFIsafe and configure as needed.

 

Enabling PROFIsafe

  1. Enter the robot safety password and tap Unlock.

  2. Use the switch button to enable PROFIsafe.

  3. Enter a source address and destination address into the corresponding boxes.

    These addresses are arbitrary numbers used by the robot and the safety PLC to identify each other.

  4. You can switch the Control Operational Mode to the ON position if you want PROFIsafe to control the robot operational mode.

    Only one source can control the operational mode of the robot. Therefore other sources of mode selection are disabled when operational mode selection via PROFIsafe is enabled.

The robot is now setup to communicate with a safety PLC.

You cannot release the robot's brakes if the PLC is not responding or if it is misconfigured.