Document type: Validation protocol (floor-usable)
Applies to: Robotic cell에서 muting 있는 area laser scanner / light curtain
Does not apply to: Collaborative force-limiting theory, cable carrier, ATC dock
Muting이 “takt 맞추는 법”이면 이 protocol은 muting이 silent hardwire bypass 되지 않게 존재한다.
0. Preconditions (skip 금지)
0.1 Cell risk assessment revision current.
0.2 Safety PLC / relay configuration change control 하 (hash 또는 dated export).
0.3 Muting lamp / status bit operator에게 visible—engineer만 아님.
0.4 Safety input에 temporary jumper 없음 (start 전 panel photograph).
Precondition fail → STOP. “나중에 validate” 금지.
1. Mute window를 한 문장으로
Cell placard에:
Muting은 __object/pallet/carrier__가 __zone__을 max seconds 점유하는 동안만, material transfer용; personnel entry 아님.
그 문장을 못 끝내면 muting이 아니라 hope.
2. Sensor geometry checks
| Step | Action | Pass criterion | | --- | --- | --- | | 2.1 | Mute sensor pair orientation 확인 | Material path만 both trigger | | 2.2 | Mute 중 personnel-shaped intrusion 시도 | Safety function still trip / mute denied | | 2.3 | Partial occlusion / shiny wrap test | Reflectance trick false mute 없음 | | 2.4 | Misalignment tolerance | Documented; beyond = fail |
Person이 body로 mute하면 geometry failed.
3. Timing proofs (numbers, vibes 아님)
3.1 Production-worst material length에서 max mute duration 측정.
3.2 Stuck-high mute sensor inject; timeout이 protective stop 여는지 confirm.
3.3 Mute가 sensor re-qual 없이 cycle boundary across latch 못 하는지 confirm.
3.4 Time을 validation sheet에—ms or s, “seemed fine” 아님.
4. Override·defeat tests (adversarial)
4.1 Mute sensor tape / magnet / zip-tie—detection 또는 casual defeat resist mechanical design expect.
4.2 Teach pendant presence가 mute를 design beyond widen하지 않음.
4.3 Maintenance mode가 production mute와 distinct (different lamp / bit).
Untimed ‘OK’ initials는 proof test 아님.
5. Robot program integration
5.1 Mute status safety logic이 monitor—robot task만 아님.
5.2 Mute 중 robot speed / zone이 risk assessment match (silent full-speed surprise 없음).
5.3 E-stop·protective stop path mute와 independent test.
6. Sign-off matrix
| Role | Signs for | Cannot substitute | | --- | --- | --- | | Safety engineer | Risk alignment | Production supervisor | | Controls | Logic export match | Operator | | Production | Placard sentence + training | Vendor alone | | Maintenance | Defeat resistance / geometry | Finance |
Missing signature → cell production mute locked out.
7. Periodic revalidation triggers
- Fence / scanner move
- Conveyor / pallet size change
- Safety logic download
- Mute path near-miss
- Site policy calendar interval (interval 기록)
인접 울타리
Cobot ISO essay는 collaborative force·speed theory. Dress-pack brief는 cable flex. Tool-changer brief는 docking seal. Humanoid deployment는 pilot theater. 어느 것도 area scanner mute timing proof·defeat test를 소유하지 않는다. ISO 10218 slide 인용하고 Step 3.2 skip하지 마라.
Close
Muting은 stopwatch·signature chain 있는 controlled exception. 나머지는 safety scanner 쓴 bypass culture.