PROFIsafe

Description

SW 5.25 provided a significant software update to PROFIsafe.

Please see the following guides for reference: PolyScope 5 Software Handbook 

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 be reduced or to trigger a safety related function like an emergency stop.

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.

 
Safety PLC Out

A control message that the safety PLC sends to the robot contains the information shown in the following table.

Signal Description

E-Stop by system

  • 0: Asserts the system e-stop.

  • 1: Clear system e-stop.

Safeguard stop

  • 0: Asserts the safeguard stop.

  • 1: Normal operation state.

Note: Also refer to the “Reset safeguard stop” signal description.

Reset safeguard stop

Resets the safeguard stop state on a 0-to-1 transition when the “safeguard stop” signal is already set to 1.

Safeguard stop auto

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

  • 1: Normal operation state.

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.

Note: Also refer to the “Reset safeguard stop auto” signal description.

Reset safeguard stop auto

Resets the safeguard stop auto state on a 0-to-1 transition when the “safeguard stop auto” signal is already set to 1.

Reduced

  • 0: Activates the Reduced safety limits.

  • 1: Activates the “Normal mode” safety limits.

The safety system guarantees the robot is within reduced limits less than 0.5s after the input is activated. If the robot arm continues to violate any of the reduced limits, a Stop Category 0 is triggered.

Operational mode

  • 0: Activates the manual operational mode.

  • 1: Activates the automatic operational mode.

If the safety configuration "Operational mode selection via PROFIsafe" is disabled, this field shall be omitted from the PROFIsafe control message.
Safety PLC In

A status message that the robot sends to the safety PLC contains the information shown in the following table.

Signal Description
Stop, cat. 0

  • 0: Robot is performing, or has completed, a safety stop of category 0; a hard stop by immediate removal of power to the arm and the motors.

  • 1: Normal operation state.
Stop, cat. 1

  • 0: Robot is performing, or 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.

  • 1: Normal operation state.
Stop, cat. 2

  • 0: Robot is performing, or has completed, a safety stop of category 2; a controlled stop after which the motors are left in a power-on state.

  • 1: Normal operation state.
Violation

  • 0: Robot is stopped because the safety system has failed to comply with the active safety limits defined.

  • 1: Normal operation state.
Fault

  • 0: Robot is stopped because of an unexpected exceptional error in the safety system.

  • 1: Robot is not experiencing an unexpected exceptional error in the safety system.
E-stop by system

  • 0: Robot is stopped because of one of the following conditions:

    • A safety PLC connected via PROFIsafe has asserted a 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 a system level e-stop.

  • 1: Robot is not in system e-stop.
E-stop by robot

  • 0: 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.

  • 1: Robot is not in e-stop by robot.
 
Signal Description
Safeguard stop

  • 0: 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 nonconfigurable 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.

  • 1: The robot is not stopped due to a safeguard stop.

Note: Also refer to the “Reset safeguard stop” signal description. PROFIsafe enforces the use of the safeguard reset functionality.
Safeguard stop auto

0: The robot is stopped because it is operating in Automatic mode and one of the following conditions applies:

  • 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.

1: The robot is not stopped due to safeguard stop auto.

Note: Also refer to the “Reset safeguard stop auto” signal description. PROFIsafe enforces the use of the safeguard reset functionality.
3PE stop

  • 0: The robot is stopped because it is operating in Manual mode and one of the following conditions applies:

    • Any 3PE is pressed to the middle position, and Freedrive input is active.

    • Not all 3PE devices are pressed to the middle position.

  • 1: Robot is not stopped because of a 3-position enabling device.
Operational mode

Indication of the active operational mode of the robot.

  • 0: Disabled

  • 1: Automatic

  • 2: Manual
Reduced

  • 0: Reduced safety limits are active.

  • 1: Normal safety limits are active.
 
Signal Description
Active limit set

The active set of safety limits.

  • 0: Normal

  • 1: Reduced

  • 2: Recovery
Robot moving

  • 0: Robot is moving. If any joint moves at a velocity of 0.02 rad/s or higher, the robot is considered in motion.

  • 1: Robot is at standstill.

Safe home position

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

  • 1: Robot is not at rest, or not 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.