Safety Function
Safety
Stop Type
Reset
Type
Description PL Category PFHd
Overspeed protec-
tion
Protective
Stop
Manual
Reset
This function monitors for
overspeed and speed in-
consistency. The AMR lin-
ear speed is limited to
2200 (MD-650) and 1800
(MD-900) mm/s (both for-
ward and backward). If
the calculated speed ex-
ceeds this speed limit, the
AMR protective stop is
triggered.
d 3
4.85 x 10
-7
Protective Stop
connection(s)
*2
Protective
Stop
Auto-
matic
Reset
User-supplied protective
stop devices initiate a pro-
tective stop (category 1
stop
*1
) and resets auto-
matically once the protec-
tive device signal is
cleared after a two-sec-
ond delay.
The final functional safety
rating is to be calculated
using the given PFHd val-
ue (logic and output) com-
bined with the user sup-
plied protective device (in-
put) PFHd values.
To be calculated by
the user.
5.79 x 10
-8
Brake release
monitoring
Protective
Stop
Manual
Reset
This function monitors the
brake to avoid continuous
braking when the AMR is
traveling. The brake re-
lease monitoring initiates
a category 1 stop.
b B
4.23 x 10
-6
Warnings N/A N/A This function is for the vis-
ual warning system.
b B
5.71 x 10
-6
Automatic battery
charging
N/A N/A This function is used to
ensure that the AMR is
properly connected to the
Docking Target before the
charging contacts are ac-
tivated.
b 1
6.34 x 10
-6
*1. Stop Categories according to IEC 60204-1 (NFPA79).
*2. The SCPU connector is provided for use with a user-supplied external E-STOP along with a user-supplied
protective device. The user is responsible for calculating the overall PL and PFHd, inclusive of user-supplied
components, and performing a final risk assessment.
2-4-17
Stopping Distance and Time
The Stopping Distance and Time test has been performed for the AMR. For this evaluation, the AMR
drove towards an obstacle with the path planning and obstacle avoidance features disabled. The AMR
navigated to a stop using only the safety system. For the duration of this test, the AMR was monitored
by a motion capture system that measured the time elapsed and distance traveled as the AMR came
2 Specifications
2-22
AMR (Autonomous Mobile Robot) MD-series Platform User's Manual (I681)
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