Table 8: Output Signal And Action Of Fault Detection Of Sf10~Sf14 - Omron Techman Robot Safety Manual

Safety
Function Name
Number
Robot
SF10 ESTOP
Output
User
Connected
SF11 External
Safeguard
Output
User
Connected
External
Safeguard
SF12 Output for
Human–
Machine
Safety
Settings
Robot
Internal
SF13
Protective
Stop Output
Robot
SF14 Moving
Output
Safety Manual TECHMAN ROBOT Safety System 3.3
Output
Definition
Signal
of
in
Triggered
Regular
Status
Status
ESTOP
result from
HIGH
SF0 and
SF1
Protective
HIGH Stop result
from SF3
External
Safeguard
HIGH
Input result
from SF9
Protective
Stop result
HIGH from
SF4,5,6,7,8
,15,17
Any joint
speed
moves no
HIGH less than
0.3˚/s
(Robot is
moving)

Table 8: Output Signal and Action of Fault Detection of SF10~SF14

Action of
Output when
Output
Discrepancy
signal of
Detected
Triggered
from Safety
Status
IO Input Ports
LOW LOW
LOW LOW
LOW LOW
For SF 15
LOW
LOW
For Others
--
LOW --
Action of Action of
Output Output
when when Action of
System System Fault
Cat. 0 Cat. 1 Detection
Stop Stop
Occurs Occurs
Cat. 0
LOW LOW
stop
Cat. 0
LOW HIGH
stop
Cat. 0
LOW HIGH
stop
Cat. 0
LOW HIGH
stop
Cat. 0
LOW LOW
stop
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