4.3.2.1 Overview

The safety module consists of a BD631 (Safety EC Board), which performs EtherCAT communication with the main module, and a BD630 (Safety IO Board), which conducts processing that is concerned with safety. The BD630 is designed based on a dual safety electric circuit to satisfy PLr=d cat3(SIL2) in compliance with ISO 13849-1 and continuously monitors the status of safety-related signals. When an error or a safety-related signal input is detected, the safety module will cut off the power to the motor and brake according to the classification of stop situations determined based on the risk assessment. This puts the robot into a safe state.