Techman Robot TM Palletizing Operator - Page 9

TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 9
Adjusting pillar height ......................................................................................................................................... 164
Recovering from Emergency Stop ..................................................................................................................... 165
Resume from Safeguard Stop Status ................................................................................................................ 165
Error Messages ...................................................................................................................................................... 165
Appendix – B: Vacuum Pressure Sensor Setting .......................................................................................................... 167
Pressure sensor setup steps ................................................................................................................................. 167
Pressure setting (single-point setting mode) ...................................................................................................... 168
Pressure sensor setup for vacuum suction cup ..................................................................................................... 168
Pressure setting (single-point setting mode) ...................................................................................................... 169
Appendix – C: Declaration of Incorporation .................................................................................................................. 171
Appendix – D: Certificate of Compliance ...................................................................................................................... 172
Appendix – E: Verification of EMC Compliance ............................................................................................................ 175
Tables
Table 1: Safety definition symbols ...................................................................................................................... 3
Table 2: Version information ............................................................................................................................... 3
Table 3: Teach Pendant Basic Functions .......................................................................................................... 24
Table 4: Related documentations ..................................................................................................................... 28
Table 5: Safety System versioning information ................................................................................................ 29
Table 6: Denotations of labels .......................................................................................................................... 37
Table 7: Safety Function Definitions ................................................................................................................. 38
Table 8: Stop Category and Action of Fault Detection of SF0, SF1 and SF2 ................................................... 40
Table 9: Stop Category and Action of Fault Detection of SF3 and SF4 ........................................................... 42
Table 10: Stop Category and Action of Fault Detection of SF5 ........................................................................ 43
Table 11: Stop Category and Action of Fault Detection of SF6 ........................................................................ 43
Table 12: Stop Category and Action of Fault Detection of SF7, SF8 and SF9 ................................................. 44
Table 13: Safety Function SF10~SF15 Definitions ........................................................................................... 45
Table 14: Stop Category and Action of Fault Detection of SF10~ SF15 .......................................................... 45
Table 15: AC Input Specifications of TM Palletizing Operator .......................................................................... 54
Table 16: Default Pallet Templates by drop-down menu .................................................................................. 56
Table 17: Pin signals for DIO, Analog I/O, Safety I/O and COM....................................................................... 57
Table 18: Definitions of Safety I/O connectors.................................................................................................. 63
Table 19: Safety controller (G9SP) pin definition .............................................................................................. 67
Table 20: Safety controller (SF-C21) I/O I/O ..................................................................................................... 69
Table 21: System Light Indicator ...................................................................................................................... 71
Table 22: AC Input Specifications of TM Palletizing Operator ........................................................................ 100