Master Thesis - Hochschule Bonn-Rhein-Sieg

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6. Evaluating the safety Master Thesis Björn Ostermann page 106 of 126 Figure 74: Relationship between categories, DCavg, MTTFd of each channel and PL of the EN 13849-1 [72] The standard has special requirements on systems with those categories: In categories [..] 3 and 4, improved performance in respect of a specified safety function is achieved predominantly by improving the structure of the SRP/CS. [..] In categories 3 and 4 this is provided by ensuring that the single fault will not lead to the loss of the safety function. In category 4, and whenever reasonably practicable in category 3, such faults will be detected. In category 4 the resistance to the accumulation of faults will be specified. [72] The necessity for the application of the highest performance level can be avoided, if the speed of the robot is sufficiently reduced. If this reduction in speed allows the possible avoidance of harm by the operator, the required performance level can be reduced to performance level d, as shown in Figure 75. Figure 75: Risk graph of the EN 13849-1 [72], reduced robot speed
6. Evaluating the safety Master Thesis Björn Ostermann page 107 of 126 This reduction in the required performance level also lowers the requirements on the category of the used system, as shown in Figure 76. Figure 76: Relationship between categories, DCavg, MTTFd of each channel and PL of the EN 13849-1 [72] This would allow the application of controls with category 2 or higher. The reduced robot speed, which is necessary if a lower performance level is to be used, can be achieved mechanically, by constructing a robot that can not move faster, or electronically, e. g. by observing the robot’s speed with a safety controller (see chapter 3.1). Reducing the speed mechanically has the disadvantage that the robot can not move faster if no operator is present in the robot’s vicinity and also that existing robots can not be easily updated to collaborative workspaces. Reducing the speed electronically has the disadvantage that this reduction in speed has to be safe as well. Therefore the risk graph has to be applied, based on the robot moving with a speed of 4 m/sec. Thus the control, which enforces the electronic speed reduction, has to comply with performance level e (see Figure 73). If sensors are used that observe the working place, distinguishing between the presence and absence of operators in the robot’s vicinity, they have to comply with the requirements of performance level e as well. 6.2.4 Robots for Industrial Environment – Safety requirements – Part 1: Robot EN 10218-1 To achieve conformity with the machinery directive (see chapter 6.1.1) to the point of “presumption of conformity” harmonized standards have to be applied that cover all hazards related to the machinery. The applicant can assure the coverage of all relevant hazards for his special machinery by applying type C standards. The standard EN 10218-1 [70] is such a standard for robots. This type C standard contains general remarks on the developed approach, the “flexible fence”: � 5.12.3 Safety-rated soft axis and space limiting
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Master Thesis ”Industrial jointed
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Statutory Declaration Master Thesis
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Contents Master Thesis Björn Oster
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1. Introduction Master Thesis Björ
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2. Overview on human-robot Master T
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3. Hard- and software Master Thesis
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Master Thesis - Hochschule Bonn-Rhein-Sieg

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