Techman Robot TM Palletizing Operator - SF5 Pendant Enabling Device; SF6 Motion Latching Mechanism; SF7 Emergency Stop Output, SF8 Safeguard-Pause Output, and SF9 Safeguard-Human-Machine; Safety Settings Output

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 43
3.3.3 SF5 Pendant Enabling Device
SF5 Pendant Enabling Device provides a three-position enabling device on pendant. Enable this safety
function in the Safety Setting in the software to use it by referring to the TMflow Software Manual of the
respective software version. Be noticed that Open or Close of this safety input will not affect the operation
in Auto Mode. When this function is enabled in Manual Mode,
Safety Function
Number
Name
Stop
Category
Reaction of Fault Detection
SF5
Pendant
Enabling Device
Cat. 2 stop
C1 Discrepancy: Cat.2 Stop
C2 Discrepancy: Cat.1 Stop
Others: Cat. 0 stop
Table 10: Stop Category and Action of Fault Detection of SF5
DANGER:
Enabling Device only stops the robot in Manual Mode and not stop the robot in Auto Mode.
3.3.4 SF6 Motion Latching Mechanism
SF6 Motion Latching Mechanism provides a safety function to prevent pillar to move when robot moves.
This safety function latches the motion between robot and pillar, which limit the combined speed of robot
and pillar under manual control mode.
Safety Function
Number
Name
Stop Category
Reaction of Fault Detection
SF6
Motion Latching
Mechanism
Cat. 2 stop
• No C1 Discrepancy
• C2 Discrepancy: Cat.0 Stop
• Others: Cat. 0 stop
Table 11: Stop Category and Action of Fault Detection of SF6
3.3.5 SF7 Emergency Stop Output, SF8 Safeguard-Pause Output, and SF9
Safeguard-Human-Machine Safety Settings Output
Refer to the table below regarding details of the output signal, triggering status, action of output upon Cat.
1 Stop, and fault-detection actions.
Safety
Function
Number
Name
Output
Signal in
Regular
Status
Definition of
Triggered
Status
Output signal
of Triggered
Status
Action of
Output when
System Cat. 1
Stop Occurs
Action of
Fault Detection