Table 10: Stop Category And Reaction Of Fault Detection Of Sf15 And Sf16 - Omron Techman Robot Safety Manual

Safety system 3.3

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compliant with IEC60204-1. Note that the input of this safety function has two input statuses only, so the

Enabling Device should not have an enabled output during the procedure from the fully pressed status to

the fully released status.

SF16 User Connected ESTOP Input without Robot ESTOP Output provides an emergency input function

without triggering SF10 Robot ESTOP Output. This safety function provides the possibility to prevent the

deadlock of the emergency stop between the robot and other devices/machines in different system

integration design.

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 discrepancy occurs, the system will enter 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

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

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.

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

Name

Number

User Connected Enabling

SF15

Device Input

User Connected ESTOP Input

SF16

without Robot ESTOP Output

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