Techman Robot TM Palletizing Operator - 3.2 Safety Device Connection Diagram, Input Discrepancy and Resume Method

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 39
1. The structure category according to ISO 13849-1.
2. PL (Performance Level) in accordance with ISO 13849-1.
3. Emergency stop and protective stop in accordance with ISO 10218-1.
4. Stop categories in accordance with IEC 60204-1.
5. PFHd (average probability of dangerous failure per hour) are defined in accordance with
ISO 13849-1.
3.1.2 Stopping Time and Stopping Distance in the Safety System
Safe stopping time is the time required from when an emergency stop or protective device (i.e. internal or
external) is activated and hazardous motion stops. In this system, activating the emergency stop button
will apply Cat. 1 safety stop. Activation of a safety function or external safety protective device will be a Cat.
2 stop. It may be necessary for the user or the system integrator to take these stop times into
consideration when implementing risk reduction measures. The robot has speed during this time, which
can transmit energy and present additional risk. For details about the stopping time and stopping distance,
refer to TM12 & TM 14 Hardware Installation Manual (Medium & Heavy Payload Series).
3.1.3 Software Safety Setting Permissions
A change management process should be in place listing known acceptable setting and potential hazards.
Changes are made in the permissions management function. The authorized user must log in with
administrator’s privilege to set all levels of permissions appropriately. Cybersecurity measure should take
place when using a network connection. The Corporation is not liable for the possible harm caused by
malicious attacks or intrusion of network to modify the permissions management system or safety setup.
3.2 Safety Device Connection Diagram, Input Discrepancy and Resume Method
The safety device connection diagram is shown as below.
A B C
C1 C2 C3
Figure 11: Safety Device Connection diagram
In this illustration,
 A represents the safety device, for example, an emergency button or safety area scanner.
 B indicates the safety controller (For details, refer to sections 4.7 and 4.8)
 C is the control box of the robot.