Safety Function; Overview; General Information; Safety Function Definitions - Omron Techman Robot Safety Manual

Safety system 3.3

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Table Of Contents

Table of Contents

2. Safety Function

2.1 Overview

TM Robot incorporates multiple safety functions, and provides interfaces for additional external protective devices.

2.2 General Information

The following describes common information of the TM Robot system safety functions:

2.2.1 Safety Function Definitions

Safety Function Definitions of TM Robot System are listed in the following table:

Safety

Function

Number

SF0

Robot Stick ESTOP

SF1

User Connected ESTOP Input

Encoder Standstill

SF2

User Connected External Safeguard Input

SF3

Joint Torque Monitoring

SF4

Joint Position Limit

SF5

Joint Speed Limit

SF6

TCP Speed Limit

SF7

TCP Force Limit

SF8

User Connected External Safeguard Input for

SF9

Human-Machine Safety Settings

Robot ESTOP Output

SF10

User Connected External Safeguard Output

SF11

User Connected External Safeguard Output for

SF12

Human-Machine Safety Settings

Robot Internal Protective Stop Output

SF13

Robot Moving Output

SF14

User Connected Enabling Device Input

SF15

User Connected ESTOP Input without Robot

SF16

ESTOP Output

Cartesian Limit A

SF17

Cartesian Limit B

SF18

Note:

1. The structure category according to ISO 13849-1:2015.

2. PL (Performance Level) in accordance with ISO 13849-1:2015.

3. Emergency stop and protective stop in accordance with ISO 10218-1:2011.

4. Stop categories in accordance with IEC 60204-1.

Safety Manual TECHMAN ROBOT Safety System 3.3

Name

Table 3: Safety Function Definitions

Robot Stopping

Structure