Sf17 Cartesian Limit A; Sf18 Cartesian Limit B; Table 11: Stop Category And Reaction Of Fault Detection Of Sf17 - Omron Techman Robot Safety Manual

2.3.7 SF17 Cartesian Limit A

SF17 provides a safety function for users to set Cartesian limit on the robot. Cubical and cylindrical limits
can be set, and both TCP and elbow are monitored. Refer to the table below for the stop category and the
reaction of fault detection and the Software Manual of the respective software version for the parameters
and procedure of setting.
To resume from this safety function, following the steps below:
1. Switch to the Manual Control Mode.
2. Press the FREE button on the end module of the robot to hand guide the robot to leave the limited
space.
Safety
Function Name
Number
SF17 Cartesian Limit A
Note: Stop categories in accordance with IEC 60204-1.
WARNING:
SF17 Cartesian Limit A is designed for the robot to monitor once the robot's movement goes
beyond the set limit and the robot performs a protective stop. It does not mean the spot to
monitor will not exceed the limit due to the stopping time and the stopping distance. Take the
stopping time and the stopping distance into consideration when using this safety function for
setting the restricted space and the safeguarded space in system integration.

2.3.8 SF18 Cartesian Limit B

SF18 provides a safety function for users to set Cartesian limit on the robot. Cubical and cylindrical limits
can be set, and both TCP and elbow are monitored. When robot exceed this Cartesian limit, the robot
decrease the robot speed to which is set in Human-Machine Safety Settings. Refer to the table below for
the stop category and the reaction of fault detection and the Software Manual of the respective software
version for the parameters and procedure of setting.
To resume from this safety function, following the steps below:
1. Switch to the Manual Control Mode,
(1) Press the FREE button on the end module of the robot to hand guide the robot to leave the limited
space. Or,
(2) Use the controller in the software to jog the robot to leave the limited space.
2. Under any other Mode, let robot leave the limited space by programming.
Safety Manual TECHMAN ROBOT Safety System 3.3

Table 11: Stop Category and Reaction of Fault Detection of SF17

Stop Category
Cat. 2 stop
Reaction of Fault Detection
Others: Cat. 0 stop
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