TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 41
Users can stop movement by pressing the emergency switch. After the movements of the robot system
has ceased, the user must confirm that no hazardous conditions are present before manually releasing
the emergency switch to allow reactivation of the robot system. The Emergency Stop should take place
only when a critical condition occurs. To stop the action of robot system under normal operation, use the
Stop Button on the pendant.
If the risk assessment requires additional Emergency Stop Devices, the selected device must comply with
the requirements of the IEC 60204-1. It is required to install additional Emergency Stop Devices
connected to the External Emergency Stop Port (SF2), so they do not diminish the overall performance
level of the Emergency Stop.
Activation of an emergency stop initiates a Cat. 1 stop. The Indication Light Ring of the robot will not
display light and the three lights from the Robot Stick will be constantly blinking. The operation steps to
reset the emergency stop state are as follows:
1. Rotate the Emergency Switch to the pop-up state. At this time, the robot arm will be re-powered. The
Indication Light Ring will have the light blue light on to indicate the Safe Start up Mode.
2. Press the Stop Button on the Teach Pendant for about three seconds. The robot will perform the
calibration action of the start-up process and return to the previous operating mode.
WARNING:
If the risk assessment indicates that the workcell should be designed as below: if there is
an Emergency Stop to the robot, other work cell devices, such as PLCs or conveyors,
should also be Emergency Stopped, user can achieve this through system integration of
safety related components, such as safety controller.
WARNING:
The power of the robot arm will be cut and the joint brake will be activated, if the
Emergency Stop is triggered. The Indication Light Ring of robot’s end module will not
show light and the three lights from the robot stick will be constantly blinking. In this case,
although each of the joint will be automatically locked through the breaking device on
joints, the robot body will still drop slightly, before it completely stops. Pay attention to the
existing risk that the end part of the robot may pinch human body or collide with other
objects.
WARNING:
For TM Palletizing Operator, the suction cup will remain the vacuum to keep the
workpiece during an Emergency Stop condition.
If the system was integrated with user-customized power I/O enabled end effector, the
emergency stop condition may cause the workpiece to be dropped. For details refer to
Safety Manual (Techman Robot Safety System 3.2).
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