PLe Safety with Fanuc Robot

Hi all,

I am currently building a Fanuc robot cell and I need to be PLe/CAT 4 for the estop and fence safety functions (ISO13849). I am using a Safety PLC to interface the ESTOP end FENCE loop as there are other equipments which I need to stop with these signals.

From my understanding of PLe/CAT4, this implies that I need to monitor in the PLC that the safety function is executed properly. Therefore, I tought I'd use the safe I/O connect to get the feedback of the EXEMG and FENCE signals. But I need to get the additionnal safe I/O board and it's expensive. I am not quite sure I am doing this the correct way.

How do you guys do when you need PLe safety level and can't connect the Estop/doors loop directly to the robot ?

What would be the state of the art way to make the safety part of a Fanuc robot cell ?

Quote from pdl

Are you already using the built in DCS I/O?

If you're out of Safety I/O and you are surprised by the cost of PLe/CAT4, you may be working in the wrong field. Hopefully you never need to build something with an ATEX rating 😉

Also, of you're using a Safety PLC, you may want to look into using a Safety rated fieldbus.

Not all controllers have built in DCS I/O. I am using a R30iB compact Plus and it doesn't have any.

I am not surprised of the cost but the people who planned the project didn't plan this in the budget and I want to be sure this is the way to do it so I can justify the expense. Anyway...

I'll look into the safety rated fiedlbus, thanks for the hint.