Table 4: Stop Category And Action Of Fault Detection Of Sf0 And Sf1 - Omron Techman Robot Safety Manual

Safety system 3.3

Table of Contents

Safety

Function

Number

SF0

SF1

Note: Stop categories in accordance with IEC 60204-1.

Table 4: Stop Category and Action of Fault Detection of SF0 and SF1

The user can stop movement by pressing the Emergency Stop button. After the movement of the robot has

ceased, the user must confirm that no hazardous conditions are present before manually releasing the

Emergency Stop button to allow reactivation of the robot. The Emergency Stop should be used only when a

critical condition occurs. To stop the movement of the robot under normal operation, use the Stop Button on

the Robot Stick.

If the risk assessment requires additional Emergency Stop devices, the selected device must comply with

the requirements of the IEC 60204-1. Any additional Emergency Stop Devices must be connected to the

User Connected ESTOP Input port (SF1), so they do not diminish the overall performance level of the

Emergency Stop.

Activation of an emergency stop initiates a Cat. 1 stop. The Indication Light Ring of the robot will not display

light and the three lights on the Robot Stick will be constantly blinking. The steps to reset the emergency

stop are as follows:

1. Rotate the Emergency Switch to the pop-up state. At this time, the robot arm will be re-powered. The

Indication Light Ring will have the light blue light on to indicate the Safe Start up Mode.

2. Press the Stop Button on the Robot Stick for about three seconds. The robot will perform the calibration

action of the start-up process and return to the previous operating mode.

WARNING:

The power of the robot arm will be cut and the joint brake will be activated, if the Emergency

Stop is triggered. The Indication Light Ring of robot's end module will not show light and the

three lights from the robot stick will be constantly blinking. In this case, although each of the

joints will be automatically locked by their brakes, the robot body will still drop slightly, before it

completely stops. 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

Name

Robot Stick ESTOP

User Connected

ESTOP Input

Stop

Action of