Table 6: Sf4~Sf8 Defined Safety Functions; Table 7: Stop Category And Reaction Of Fault Detection Of Sf4~Sf8 - Omron Techman Robot Safety Manual

Safety system 3.3

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Table Of Contents

Table of Contents

Safety

Function

SF4

Joint Torque Monitoring

SF5

Joint Position Limit

SF6

Joint Speed Limit

SF7

TCP Speed Limit

SF8

TCP Force Limit

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

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

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

Safety

Function

Number

SF4

SF5

SF6

SF7

SF8

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

Table 7: Stop Category and Reaction of Fault Detection of SF4~SF8

Refer to the relevant contents in the Software Manual for the setting of each item. Users can use any

method listed below to recover the robot from protective stop manually from SF4 to SF8:

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

Name

The additional torque that joint received after compensating the

weight of tool in TCP setting, weight of workpiece in payload

setting in programming, and the weight of the robot body. Each

joint's torque limit condition can be set. When the robot

exceeds a set value, it will trigger a protective stop.

Each joint's motion angle limit can be set. When the robot

exceeds a set value, it will trigger a protective stop.

Each joint's motion speed range can be set. When the robot

exceeds a set value, it will trigger a protective stop.

The speed limit of the tool center point can be set. When the

robot exceeds a set value, it will trigger a protective stop.

The additional force that TCP received after compensating the

weight of tool in TCP setting and weight of workpiece in

payload setting in the programming. The force limit of the tool

center point can be set. When the robot exceeds a set value, it

will trigger a protective stop. The force of the tool center point is

the external force at the tool center point estimated through the

model by the robot system. It is not the protection value of

applied external force at the tool center point by the robot

system.