Verification and Operation

This section describes verification of the safety function and safe operation of the system.

Commissioning and Revalidation

The safety function must be tested by triggering the safety sensor and verifying that the robot or PLC performs a safe stop.

Revalidation is required after any change that may affect safety, including:

  • Changes to robot type, payload, or speed

  • Changes to tool configuration, mounting, or TCP

  • Modifications to safety wiring or controller configuration

  • Software or firmware updates

  • Changes to the application or workpiece

Note

The safety function must be tested to ensure that a safe stop is correctly initiated when triggered.

Validation of Safety Function

Validation of the safety function may include:

  • Verification of correct safety signal transmission (OSSD)

  • Verification of robot stopping behavior

  • Measurement of contact forces where applicable

  • Testing under worst-case operating conditions — maximum speed, payload and reach

  • Verification of stopping time and distance where applicable

Safe Restart and Fault Recovery

After a safety stop has been triggered:

  1. Identify and remove the cause of the stop

  2. Ensure that no person is within the hazard zone

  3. Reset the robot or PLC safety system

  4. Verify normal operation before resuming production

Warning

Automatic or unexpected restart of the system is NOT permitted, because the robot could move while a person is within the hazard zone. Restart must always be initiated by a deliberate action from the operator or control system.