Posts by Rick petrous

Hello All,

I want to assign the mode change of a CRX Fanuc (collaborative/industrial) to one of the safety inputs of the JRM18 card. To do this, I need to first assign it in the software to one SFDI, and then use it in the hardware (sensor signal). However, I cannot find this option on the tablet (Teach Pendant). Does anyone know where I can find it, or what is the best method to achieve this?

I suppose i should map SIR[1] to SPI[1] , but the in case that SPI [1] is the true safety input, where is that in cabinet, because the card start with SFDI11?

In Safe I/O connect i can map SIR to SPI[1-9]!!!

Grazie

Quote from SkyeFire

Well, I'd start with the actual safety standards: https://webstore.ansi.org/standards/ria/…tiverobotsafety
https://webstore.ansi.org/standards/ria/ansiriar15082020

These are the standards installs are judged against by the relevant legal authorities, or compared to in the event of an injury lawsuit.

Of course, there's a lot of variables. A collaborative robot with a chainsaw attached is no longer collaborative. But a cable attachment bracket mounted to the side of a cobot's arm can also potentially make the robot non-collaborative, if it has any sort of sharp-ish corners on it -- there's a reason that all cobots are swoopy curves that look like something designed by Apple.

The RIA specs center around three questions:
1. How easy is it for a hazard to occur?
2. How much harm can the hazard cause?
3. How easy is it to avoid the hazard?

The combination of the three answers creates a risk factor, which then must be mitigated. Some facilities have risk mitigation strategies that amount to "tell people not to be stupid" and don't bother with anything else. Others have internal safety standards that go well above and beyond the RIA minima.

For cobots, the hard minimum is impact force over contact area -- the same force may be tolerable for a "blunt" contact but intolerable for a "sharp" contact.

For AMRs, it's all about sensing, and being able to stop safely before collision (and also without, say, letting a heavy load slide off the AMR and fall on someone during an E-Stop).

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Hi Skyfire,

Thanks for your answer and the example of apple-rounded robots. That's exactly the kind of practical experiences I'm looking for, as they are often unwritten or hard to find. Unfortunately, I don't have access to ANSI/ITSDF standards due to a lack of funding for the literature survey phase. Is there any way to access that material?

I also wanted to highlight your last point about machine-human communication. The versatility of automated processes means that safety structures can be interpreted differently, so I'm looking for a general description (apart from ANSI/ITSDF) in research or practical resources. This aspect remains unresolved for me.

Thanks again!

Hi everyone,

I am a member of a research group focused on the integration of Automated Mobile Robots (AMR) and collaborative robots. Currently, I am concentrating on safety instructions and Protocols at various levels, from shoulder-to-shoulder human and machine operations, such as deploying 2D lidar, to high-level programming (ROS integration) of six-axis robots, including DCS safety measures.

Imagine an AMR in a sterilized environment assisting operators with specific tasks. How should the collaboration safety between humans and AMRs be managed? What safety instructions should be in place between AMRs and other robots or machines? What considerations are necessary?

I plan to conduct an extensive literature survey on this topic. However, I am currently encountering a lack of related sources(book, paper, link, keywords, ... ), as most of these safety instructions and detailed approaches are proprietary information specific to individual companies and projects.

Therefore, I am reaching out to the community for guidance on potential resources related to this topic. Any hints or references would be greatly appreciated.

Grazie

Thanks for your answer, This is a photo from my wiring.

Hello,

I have CRX-25i with R-30, trying to triger Hardware digital output of the robot directly (Without PLC) . I configuered rack ,slot, and Start point according to 48 1 1, and mapped that to DO[81]. The wiring is also 24v and 0 v from card to sensor and getting the signal of DO[1] , but still no output signal.

Is there any pre-wiring over the card ?

Is there any pre configuration over the variables?

I am newly experincing Fanuc, that would be perfect to have a general instruction about the first configuration of I/Os.

Grazie