Techman Robot TM Palletizing Operator - SF3 External Safeguard-Pause and SF4 External Safeguard-Human-Machine Safety Settings; Table 9: Stop Category and Action of Fault Detection of SF3 and SF4

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 42
CAUTION:
Person should be outside of the robot’s operational space (areas that robot can reach)
when recovering from the emergency stop. Clear off the loading at the tool end before
recovering from the emergency stop.
CAUTION:
During Joint Position Calibration period, each joint of the robot will perform a calibration
motion. Make sure the robot pose is in a clear space of at least 5 degrees per joint to
perform the calibration motion before activates the calibration. At the same time, make
sure the TCP, which may have a long distance to the robot flange, will not cause harm
during the calibration motion.
3.3.2 SF3 External Safeguard-Pause and SF4 External Safeguard-Human-Machine Safety Settings
These two safety inputs are present on the Safeguard Port of the separated safety control components
(For details, refer to sections 4.7 and 4.8). Resuming from the SF3 External Safeguard-Pause and SF4
External Safeguard-Human-Machine Safety Settings can be manual or auto. If manual resume is
configured, press PLAY button to resume to the original status. For the setting for manual or automatic
resume, refer to the relevant contents in the Software Manual. While the SF3 External Safeguard-Pause is
triggered, both robot and pillar motion will pause. While SF4 External Safeguard-Human-Machine Safety
Settings is triggered, the robot will enter lower speed set in Human-Machine Safety Settings and the pillar
motion will pause.
Refer to the table below for the stop category and the reaction of fault detection of the safety functions.
The functions come with the discrepancy detection to maintain the safety status when detecting different
signal from dual channel input. When C1 discrepancy occurs, the system will enter and lock in a safety
status. To resume from the safety status, first check the input wiring, correct it, and let the dual inputs open
and close again, to enable the robot to the resume status of the safety function. When any fault other than
discrepancy detected in the safety functions, the system performs a Cat. 0 stop. When Cat. 0 stop occurs,
reboot the robot system to recover from Cat.0 stop status.
Safety
Function
Number
Name
Stop
Category
Action of Fault Detection
SF3
External Safeguard-Pause
Cat. 2 stop
C1 Discrepancy: Cat.2 Stop
C2 Discrepancy: Cat.1 Stop
Others: Cat. 0 stop
SF4
External
Safeguard-Human-Machine
Safety Settings
--
C1 Discrepancy: Trigger
Human-Machine Safety Settings
C2 Discrepancy: Cat.1 Stop
Others: Cat. 0 stop
Table 9: Stop Category and Action of Fault Detection of SF3 and SF4