Techman Robot TM Palletizing Operator - Page 6

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 6
3.1.2 Stopping Time and Stopping Distance in the Safety System .............................................................. 39
3.1.3 Software Safety Setting Permissions .................................................................................................. 39
3.2 Safety Device Connection Diagram, Input Discrepancy and Resume Method........................................... 39
3.3 Explanation of Safety Functions .................................................................................................................. 40
3.3.1 SF0 Robot Stick Emergency Stop, SF1 Pendant Emergency Stop and SF2 External Emergency Stop
40
3.3.2 SF3 External Safeguard-Pause and SF4 External Safeguard-Human-Machine Safety Settings....... 42
3.3.3 SF5 Pendant Enabling Device ............................................................................................................ 43
3.3.4 SF6 Motion Latching Mechanism ........................................................................................................ 43
3.3.5 SF7 Emergency Stop Output, SF8 Safeguard-Pause Output, and SF9 Safeguard-Human-Machine
Safety Settings Output ......................................................................................................................................... 43
3.3.6 SF10~SF15 Defined Safety Functions ................................................................................................ 44
3.5 Safety Distance and Scenario ..................................................................................................................... 47
3.6 Reset Button Mechanism ............................................................................................................................ 51
3.7 Operation Mode and Mode Switching ......................................................................................................... 52
3.7.1 Auto Mode ........................................................................................................................................... 52
3.7.2 Manual Mode ....................................................................................................................................... 52
3.7.2.1 Manual Control Mode (Manual Reduced Speed)............................................................................ 53
3.7.2.2 Hand Guide Mode ........................................................................................................................... 53
3.7.2.3 Manual Trial Run Mode (Manual High Speed) ................................................................................ 53
3.7.2.4 Switching Between Modes .............................................................................................................. 53
3.8 Safety Setting in TMflow Software .............................................................................................................. 53
4 Electrical Interface ................................................................................................................................................... 54
4.1 General Electrical Specifications ................................................................................................................. 54
4.2 Electrical Warnings and Cautions ............................................................................................................... 54
4.3 A Glance inside TM Palletizing Operator Base ........................................................................................... 54
4.4 Electric Switchboard inside the Distribution Box ......................................................................................... 55
4.5 Palletizing I/O Configuration ........................................................................................................................ 56
4.5.1 Palletizing I/O Pin Definitions .............................................................................................................. 57
4.5.2 Digital Inputs ........................................................................................................................................ 57
4.5.2.1 Considerations for Sensor Connections ......................................................................................... 58
4.5.3 Digital Outputs ..................................................................................................................................... 59
4.5.3.1 Considerations for Terminal ............................................................................................................ 60
4.5.4 Analog Input/Output ............................................................................................................................ 61
4.5.4.1 Analog Input .................................................................................................................................... 62
4.5.4.2 Analog Output ................................................................................................................................. 62