Sf2 Encoder Standstill; Sf3 User Connected External Safeguard Input And Sf9 User Connected External Safeguard Input For; Human-Machine Safety Settings - Omron Techman Robot Safety Manual

Safety system 3.3

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WARNING:

During an Emergency Stop, power to the end effector will be cut. If the system was integrated

with a power I/O enabled end effector, the emergency stop condition may cause the

workpiece to be dropped.

CAUTION:

Personnel should be outside of the robot's operational space (areas that robot can reach)

when recovering from the emergency stop.

Clear off the loading at the tool end before recovering from the emergency stop.

CAUTION:

During the Joint Position Calibration period, each joint of the robot will perform a calibration

motion. Make sure the robot pose is in a clear space of at least 5 degrees per joint to perform

the calibration motion before starting the calibration. At the same time, make sure the TCP,

which may have a long distance to the robot flange, will not causing harm during the

calibration motion.

2.3.2 SF2 Encoder Standstill

This safety function is automatically activated after every Cat. 2 Stop. Encoders of each joint are monitored

continuously to check if there is any unintended motion until the user acknowledges and manually resets

the robot from the state of Cat. 2 Stop. If there is any unintended motion, this safety function will trigger a

Cat. 0 Stop. When any fault other than discrepancy is detected in the safety function, the system performs

a Cat. 0 stop. When a Cat. 0 stop occurs, reboot the robot system to recover from Cat. 0 stop status.

These two safety inputs are present on the Safeguard Port of the robot control box. For the related

connection and usage, refer to the Hardware Installation Manual. Resuming from the SF3 User Connected

External Safeguard Input protective stop and SF9 User Connected External Safeguard Input for

Human-Machine Safety Settings can be manual or auto. If manual resume is configured, press the PLAY

button to resume the original status. For the setting for manual or automatic resume, refer to the relevant

contents in the Software Manual.

Refer to the table below for the stop category and the reaction of fault detection of the safety functions. The

functions come with discrepancy detection to maintain the safety status when detecting conflicting signals

from a dual channel input. When a discrepancy occurs, the system will enter and lock in a safety status of

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

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