Figure 3 illustrates the highest level of integration where safety channel 1 integrates into the central compute processor and safety channel 2 integrates into the communication processor. No additional external controller is needed for functional safety. This level of integration saves additional printed circuit board (PCB) space and external component cost. An example implementation for this highly-integrated robot controller architecture with TI processors as shown in Figure 4.

Figure 3 Dual integrated safety controllers.

Figure 4 Integrated robot controller architecture with TI processors.