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

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
Function Category
Emergency Stop Cat. 3
Emergency Stop Cat. 3
Cat. 2
Protective Stop
Cat. 2
Protective Stop
Cat. 2
Protective Stop
Cat. 2
Protective Stop
Cat. 2
Protective Stop
Cat. 2
Protective Stop
Cat. 2
Protective Stop
Cat. 2
--
Cat. 3
--
Cat. 3
--
Cat. 3
--
Cat. 3
--
Cat. 2
--
Cat. 2
Protective Stop
Cat. 3
Emergency Stop
Cat. 2
Protective Stop
Cat. 2
--
PL
d
d
d
d
d
d
d
d
d
d
d
d
d
d
d
d
d
d
d
17