Techman Robot TM Palletizing Operator - SF10~SF15 Defined Safety Functions; Table 12: Stop Category and Action of Fault Detection of SF7, SF8 and SF9

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 44
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
SF7
Emergency Stop
Output
HIGH
ESTOP result
from SF0, SF1
and SF2
LOW
LOW
C3 Discrepancy:
Cat.0 Stop
SF8
Safeguard-
Pause Output
HIGH
Protective Stop
result from SF3
LOW
HIGH
C3 Discrepancy:
Cat.0 Stop
SF9
Safeguard-
Human-Machine
Safety Settings
Output
HIGH
Human-Machine
Safety Settings
triggered from
SF4
LOW
HIGH
C3 Discrepancy:
Cat.0 Stop
Table 12: Stop Category and Action of Fault Detection of SF7, SF8 and SF9
IMPORTANT:
The resume of outputs follows the corresponded inputs. For example, the SF7-Emergency
Stop Output would output signal LOW when the SF1-Pendant Emergency Stop is pressed.
When the SF1-Pendant Emergency Stop button is rotated and pop-up, the ESTOP result is
removed and SF7-Emergency Stop Output would resume to output signal HIGH.
3.3.6 SF10~SF15 Defined Safety Functions
The name and description of SF10 to SF15 safety functions are listed in the following table as shown
below:
Safety
Function
Name
Description
SF10
Joint Torque Monitoring
The additional torque that joint received after compensating the
weight of tool in TCP setting, weight of workpiece in payload setting
in programming, and the weight of the robot body. Each joint’s
torque limit condition can be set. When the robot exceeds its set
value, it will trigger a protective stop.
SF11
Joint Position Limit
Each joint’s motion angle limit can be set. When the robot exceeds
its set value, it will trigger a protective stop.
SF12
Joint Speed Limit
Each joint’s motion speed range can be set. When the robot
exceeds its set value, it will trigger a protective stop.