ProtectiveStopFunctions is a container for one or more instances of the ProtectiveStopFunctionType. The number and names of protective stop functions is vendor specific. When provided, this object contains a list of all protective stop functions with names and current state. See description of ProtectiveStopFunctionType for examples of protective stop functions.

Table 31 – TypeDefinition of ProtectiveStopFunctions of SafetyStateType

Attribute

Value

BrowseName

ProtectiveStopFunctions

References

Node Class

BrowseName

DataType

TypeDefinition

Modelling Rule

HasComponent

Object

<ProtectiveStopFunctionIdentifier>

 

ProtectiveStopFunctionType

Mandatory Placeholder

Table 32 – ObjectType ProtectiveStopFunctionType

Attribute

Value

BrowseName

ProtectiveStopFunctionType

References

Node Class

BrowseName

DataType

TypeDefinition

Modelling Rule

Subtype of the BaseObjectType defined in OPC Unified Architecture

HasProperty

Variable

Name

String

PropertyType

Mandatory

HasComponent

Variable

Enabled

Boolean

BaseDataVariableType

Mandatory

HasComponent

Variable

Active

Boolean

BaseDataVariableType

Mandatory

Description of ProtectiveStopFunctionType:

According to ISO 10218-1:2011 Ch.5.5.3 the robot shall have one or more protective stop functions designed for the connection of external protective devices.

  • The Name of the ProtectiveStopFunctionType provides a manufacturer-specific protective stop function identifier within the safety system.
  • The Enabled variable is TRUE if this protective stop function is currently supervising the system, FALSE otherwise. A protective stop function may or may not be enabled at all times, e.g. the protective stop function of the safety doors are typically enabled in automatic operational mode and disabled in manual mode. On the other hand for example, the protective stop function of the teach pendant enabling device is enabled in manual modes and disabled in automatic modes.
  • The Active variable is TRUE if this particular protective stop function is active, i.e. that a stop is initiated, FALSE otherwise. If Enabled is FALSE then Active shall be FALSE.

Examples

The table below shows an example with a door interlock function. In this example, the door is only monitored during automatic modes. During manual modes, the operators may open the door without causing a protective stop.

Table 33 – Door Interlock Protective Stop Example

Automatic Mode

Manual Mode

Door interlock

Enabled

Active

Enabled

Active

Door closed

TRUE

FALSE

FALSE

FALSE

Door open

TRUE

TRUE

FALSE

FALSE

The next example shows how the three-position enabling device normally found on teach pendants is processed. In this case it does not matter if the enabling device is pressed or not during automatic modes, while in manual modes, a protective stop is active as long as the enabling device is released or fully pressed.

Table 34 – Teach Pendant Enabling Device Protective Stop Example

Automatic Mode

Manual Mode

Teach Pendant Enabling Device

Enabled

Active

Enabled

Active

Released

FALSE

FALSE

TRUE

TRUE

Middle position

FALSE

FALSE

TRUE

FALSE

Fully pressed (panic)

FALSE

FALSE

TRUE

TRUE