Sf10~Sf14 Safety Output Functions; Figure 1: X, Y, & Z Axes - Omron Techman Robot Safety Manual

•
Note that the default speed limit when selecting Hand & Finger had been modified to a lower speed to
match the test with sensor described in document of DGUV:FB HM 080 (August 2017). If you upgrade your
Robot from previous version of Safety System to Safety System 3.3 by software update, the speed limit
value of Hand & Finger will still keep the original setting. Re-select the body region or click the default
button under Human-Machine Safety Setting page to update the speed limit value of Hand & Finger to align
with the speed limit value of Hand & Finger in Safety System 3.3.

2.3.5 SF10~SF14 Safety Output Functions

SF10~SF14 provides the safety output functions connecting to other devices for system integration. Refer
to the table below for the stop category, the definition of the triggered status, the action of the output signal,
and the action of the fault detection. 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. For the related connections and usages, refer to the Hardware Installation Manual
of the respective hardware version. The definition of triggered status is when the connected device should
stop or enter the safety status. These safety outputs will be LOW when triggered.
For SF10 Robot ESTOP Output, note that it only reflects the emergence stop resulting from SF0 and SF1.
The emergency stop resulting from SF16 User Connected ESTOP Input without Robot Output will not
reflect on SF10.
For integration with safety output functions, it is necessary to add the corresponded safety input functions'
PFHd values for calculation. For example, when using SF10 Robot ESTOP Output to stop other machine
when emergency situation. 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
The sensor used in the impact test is selected from which is described in document of
DGUV:FB HM 080 (August 2017).
Figure 1: X, Y, & Z axes
24