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Summary of Contents for Omron Techman Robot
- Page 1 Safety Manual TECHMAN ROBOT Safety System 3.3 Safety Manual TECHMAN ROBOT Safety System 3.3 1648-E-04 Original Instruction...
- Page 2 This Manual contains information of the Techman Robot product series (hereinafter referred to as the TM Robot). The information contained herein is the property of Techman Robot Inc. (hereinafter referred to as the Corporation) and shall not be reproduced in whole or in part without prior authorization from the Corporation. No information contained herein shall be considered an offer or commitment.
- Page 3 Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
- Page 4 Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product.
- Page 5 However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron representative at any time to confirm actual specifications of purchased Product.
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Page 6: Table Of Contents
Joint Movement without Drive Power ........................ 31 During an Emergency Stop Procedure ....................... 31 Extending the Robot from the Packing Pose ....................31 Power Loss ..............................31 Operation Mode and Mode Switching ........................ 32 Auto Mode ..............................32 Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 7 Table 17: Stopping Time and Distance for TM5-900 Series ................51 Table 18: Stopping Time and Distance for TM14 Series .................. 52 Table 19: Stopping Time and Distance for TM12 Series .................. 53 Figures Figure 1: X, Y, & Z axes ............................ 24 Safety Manual TECHMAN ROBOT Safety System 3.3...
- Page 8 Figure 5: Wrist Singularity Point in Space ......................36 Figure 6: The Solution when Encountering Singularity Point in Space (1/2) ............ 37 Figure 7: The Solution when Encountering Singularity Point in Space (2/2) ............ 38 Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 9: Revision History Table
Revision History Table Revision Date Revised Content December 2019 Original release January 2020 Updated Appendix A April 2020 Updated Chapter 4.1.2 August 2020 Updated info on Safety System 3.3 and Appendix A Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 10: Comprehensive Information
This document is only applicable to the combination of the following software and hardware versions of TM Robot. Users can check the hardware version and software version on “Techman Robot Product Brief Information” sheet in the control box carton, or through these methods: checking the hardware version on the product label on the control box and checking the software version from the software information button in the UI of TMflow. -
Page 11: Safety Precautions
Dispose of the product in accordance with the relevant rules and regulations of the country or area where the product is used. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 12: Validation And Responsibility
Even if the safety instructions are followed, any safety-related information in the manual shall not be considered as a guarantee that the product will not cause any personal injury or damage. Overall Safety Warning These safety warnings are relevant for the entire manual. Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 13 7. Do not install or operate this product in a hazardous area (for example: strong magnetic field, hazardous gas, fire source, or flammable product) In order to prevent the machinery from causing danger during operation because of external conditions. Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 14: Intended Use
• Restricted movement of persons • Use without proper mounting of the robot • Use involving excessive oscillations when moving • Use without proper design of earthquake-prevention mounting when installed in earthquake zones Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 15: Risk Assessment
4. Entrapment between a robot and a fixed surface. 5. Incorrect human-robot collaborative workspace setup, parameter settings or project operation. 6. TCP force may be estimated incorrectly when robot is passing the area near singularity point in space, due to Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 16 Failure to use appropriate power can lead to malfunction or failures of the robot or hazardous situations. Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 17: Safety Function
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... -
Page 18: Stopping Time And Stopping Distance In The Safety System
When any fault other than discrepancy in the safety functions is detected, the system performs a Cat. 0 stop. When Cat. 0 stop occurs, reboot the robot system to recover from Cat.0 stop status. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 19: Table 4: Stop Category And Action Of Fault Detection Of Sf0 And Sf1
Pay attention to the risk that the end part of the robot may pinch the operator or collide with other objects. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 20: Sf2 Encoder Standstill
Cat. 1 stop. To resume from the safety status, first check the input wiring, correct it, and follow the steps below to resume. Let the dual inputs open and close again. At this time, the robot arm will be re-powered. The Indication Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 21: Sf4~Sf8 Defined Safety Functions
Safety Settings. Users should take these timings into considerations for the risk assessment of applications and set the distance of the safeguard properly. 2.3.4 SF4~SF8 Defined Safety Functions The name and description of SF4 to SF8 safety functions are listed in the following table: Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 22: Table 6: Sf4~Sf8 Defined Safety Functions
Pressing the STOP or PLAY button on robot stick Any operation on the icons in the left sidebar of the TMflow (except Shutdown) Pressing the FREE button in the end module of TM Robot Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 23 The weight of tool is compensated in TCP setting. • The impact force of the robot at the half reach collided with the sensor matches the biomechanical limits of each body region defined in ISO/TS 15066. Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 24: Sf10~Sf14 Safety Output Functions
It is necessary to put SF0 Robot Stick ESTOP into calculation, or to put both external ESTOP button PFHd value and SF1 User Connected ESTOP Input into calculation. For those outputs to stop other machine when internal safety functions triggered like SF13 Robot Internal Protective Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 25 *In Safety System 3.2, SF14 is marked with Cat. 3, as the output of encoder standstill function, and needed to add with the structure and PFHd of SF2, which is a Cat.2 structure. In Safety System 3.3, they are all considered in SF14. Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 26: Table 8: Output Signal And Action Of Fault Detection Of Sf10~Sf14
Stop Output ,15,17 Any joint speed Robot moves no Cat. 0 SF14 Moving HIGH less than stop Output 0.3˚/s (Robot is moving) Table 8: Output Signal and Action of Fault Detection of SF10~SF14 Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 27: Sf15 And Sf16 Safety Input Functions
PLAY button, the Enabling Device should be pressed in the middle position. When Enabling Device is released or fully pressed during the Manual Trial Run mode, the Project Speed will always automatically return to 5%. Connect this safety function only to the three-position enabling device Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 28: Table 10: Stop Category And Reaction Of Fault Detection Of Sf15 And Sf16
Note: Stop categories in accordance with IEC 60204-1. Table 10: Stop Category and Reaction of Fault Detection of SF15 and SF16 DANGER: Enabling Devices only stop the robot in Manual Mode and will not stop the robot in Auto Mode. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 29: Sf17 Cartesian Limit A
Press the FREE button on the end module of the robot to hand guide the robot to leave the limited space. Or, Use the controller in the software to jog the robot to leave the limited space. 2. Under any other Mode, let robot leave the limited space by programming. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 30: Safety Checksum
For example: FE55. Different indication, including tests or numbers, indicates for different safety setting configuration. Figure 2: Checksum WARNING: The Safety Checksum changes only when the limits or settings in safety setting been changed and saved. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 31: Safety Related Operation
End Module of robot to supply power. Install an independent power supply for the end effector. • If the end effector is a pneumatic control, use a low potential actuation design. • Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 32: Operation Mode And Mode Switching
Wherever possible, the manual mode of operation shall be performed by all persons outside the safeguarded space. 3.2.2.1 Manual Control Mode (Manual Reduced Speed) In Manual Control Mode, the user can jog the robot with controller UI in TMflow or the Robot Stick. If the Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 33: Switch Between Modes
• robot base end movement • tool base end movement • self-defined base end movement • move to visual initial position • visual servo action • step run • move to point • hand guiding • others Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 34: Singularity Point
Main model offset TM5 Series 122.3 mm TM12/14 Series 156.3 mm Table 13: The R values of each product series offset Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 35: Figure 3: The Definition Of R Offset
When the third joint is almost at its zero degree, which means the robot is almost at the maximum working radius. The space exceeding this radius is the Extensible Singularity Point in Space. In this space, the robot will stop and report a warning due to exceeding the motion range of the robot. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 36: Figure 4: Extensible Singularity Point In Space
Once the robot enters the Wrist Singularity Point in Space, it will stop and report an error. When the fourth and sixth joint are nearly parallel, the robot is about to enter the Wrist Singularity Point in Space. Figure 5: Wrist Singularity Point in Space Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 37: Figure 6: The Solution When Encountering Singularity Point In Space (1/2)
Cartesian motion, the Wrist Singularity Point in Space will be encountered. At this time, the method in the following figure can be used to avoid the rotational axes of the fourth and the sixth joints being parallel. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 38: Figure 7: The Solution When Encountering Singularity Point In Space (2/2)
Figure 7: The Solution when Encountering Singularity Point in Space (2/2) This example demonstrates how to avoid the rotational axes of the fourth and sixth joint being parallel, when the user needs to move the robot according to tool Z-axis. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 39: Replacing The Robot Stick In Local Control
Hold to Run (Client Device) Manual Control Mode Manual Trial Mode Auto Mode Auto Remote Mode Table 14: Control Methods in Respective Modes Summary * Needs to enable speed adjustment under Auto Mode Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 40: Compliance Of Safety Regulations
Means are provided for connection of an Enabling device when required by the risk assessment. Access of Safety Setting TM Robot's safety setting has been integrated with the user's permission system of the entire product. Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 41: Declaration Of Incorporation
Replacing the emergency switch of the Robot Stick with an external emergency switch connected to the Emergency Switch Port Replacing the Play/Stop Button of the Robot Stick with user-defined IO or the functions of equivalent Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 42 Choice of protection against risks arising from moving parts 1.3.8.1 Moving transmission parts 1.3.8.2 Moving parts involved in the process 1.3.9 Risks of uncontrolled movements Required characteristics of guards and protective devices 1.4.1 General requirements Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 43: Table 15: Declaration Of Incorporation
Warning devices 1.7.2 Warning of residual risks 1.7.3 Marking of machinery 1.7.4 Instructions 1.7.4.1 General principles for the drafting of instructions 1.7.4.2 Contents of the instructions 1.7.4.3 Sales collateral Table 15: Declaration of Incorporation Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 44: Appendix A. Certificate Of Compliance And Declaration Of Incorporation
Appendix A. Certificate of Compliance and Declaration of Incorporation The "manufacturer" in the article above should be deemed to be "original equipment manufacturer." Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 45 The "manufacturer" in the article above should be deemed to be "original equipment manufacturer." Safety Manual TECHMAN ROBOT Safety System 3.3...
- Page 46 The "manufacturer" in the article above should be deemed to be "original equipment manufacturer." Safety Manual TECHMAN ROBOT Safety System 3.3...
- Page 47 Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 48: Appendix B. Verifications Of Emc Compliance
Appendix B. Verifications of EMC Compliance Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 49 Safety Manual TECHMAN ROBOT Safety System 3.3...
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Page 50: Appendix C. Tm Robot Stopping Time And Distance For All Series Product Models
17.92 18.16 18.28 26.33 30.98 27.40 8.95 9.34 9.28 17.92 18.26 18.26 26.88 31.10 27.56 8.94 9.34 9.34 17.86 18.14 18.09 26.00 26.45 28.80 Table 16: Stopping Time and Distance for TM5-700 Series Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 51: Table 17: Stopping Time And Distance For Tm5-900 Series
18.02 18.22 18.18 26.94 28.00 27.36 9.00 9.31 9.18 18.10 18.23 18.26 26.72 28.45 27.56 9.04 9.28 8.97 18.16 18.11 18.13 26.60 23.15 28.78 Table 17: Stopping Time and Distance for TM5-900 Series Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 52: Table 18: Stopping Time And Distance For Tm14 Series
11.97 12.38 18.22 18.15 18.89 27.27 5.99 6.48 9.12 11.99 12.26 18.30 18.23 18.98 27.34 6.06 6.29 8.95 12.06 12.34 18.20 18.39 17.61 28.87 Table 18: Stopping Time and Distance for TM14 Series Safety Manual TECHMAN ROBOT Safety System 3.3... -
Page 53: Table 19: Stopping Time And Distance For Tm12 Series
11.99 12.52 18.01 18.14 18.88 27.07 6.06 6.26 9.33 12.09 12.52 18.12 18.27 19.24 27.75 6.06 5.36 9.34 12.12 12.39 18.15 18.41 18.14 27.50 Table 19: Stopping Time and Distance for TM12 Series Safety Manual TECHMAN ROBOT Safety System 3.3... - Page 54 © Techman Robot Inc. 2019-2020 All Rights Reserved Safety Manual TECHMAN ROBOT Safety System 3.3 I648-E-04 0820 19888-320 D...
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