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Functional Safety requirements
In all four of the measures described above, the safety related control system that provides
this functionality needs to meet either:
•
Safety Performance Level d (PLd), with Category 3 architecture (the identified level
to which the safety related parts of a control system resist faults and their subsequent
behaviour if a fault occurs) outlined within the standard EN ISO 13849, or
•
Safety Integrity Level 2 (SIL 2) with hardware fault tolerance (HFT) 1, as set out in
EN [IEC] 62061.
One of the best known manufacturers of cobots is the Danish company Universal Robots
(UR). This table is from their published functional safety data, the values have been tested
and verified by TÜV Nord Cert GmbH.
Figure 9 - UR PFHd Table