| 摘要 |
A safety monitoring unit according to the present invention for a robot arrangement having one or more robots (1) comprises a composition unit (4) to arrange a combination function arrangement. The combination function arrangement comprises one or more first combination functions (V1, V2, V3). A monitoring function arrangement comprises a damage state, a non-damage state, and an error state according to the input of one or more signals of each robot arrangement. When the non-damage state is not included in monitoring functions (N, G, W, B, D), the first combination functions are logically combined to each other to comprise response states (STOP 0, STOP 1). The combination function arrangement comprises one or more second combination functions. When the damage state is generated in all monitoring functions of each combination function, the second combination functions are logically combined to each other not to comprise the response states. |
