Table of Contents
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Contents
Revision History Table ....................................................................................................................................................... 9
1. Comprehensive Information ........................................................................................................................................ 10
Overview ............................................................................................................................................................ 10
Applicable Product Version ................................................................................................................................ 10
Safety Warning Symbols .................................................................................................................................... 10
Safety Precautions ............................................................................................................................................. 11
Validation and Responsibility ............................................................................................................................. 12
Limitation of Liability ........................................................................................................................................... 12
Overall Safety Warning ...................................................................................................................................... 12
Intended Use ...................................................................................................................................................... 14
Risk Assessment ................................................................................................................................................ 15
2. Safety Function ........................................................................................................................................................... 17
2.1 Overview ............................................................................................................................................................ 17
2.2 General Information ........................................................................................................................................... 17
2.2.1 Safety Function Definitions ......................................................................................................................... 17
2.2.2 Stopping Time and Stopping Distance in the Safety System ...................................................................... 18
2.2.3 Software Safety Setting Permissions .......................................................................................................... 18
2.3 Explanation of Safety Functions ........................................................................................................................ 18
2.3.1 SF0 Robot Stick ESTOP and SF1 User Connected ESTOP Input ............................................................. 18
2.3.2 SF2 Encoder Standstill ................................................................................................................................ 20
Human-Machine Safety Settings .......................................................................................................................... 20
2.3.4 SF4~SF8 Defined Safety Functions ............................................................................................................ 21
2.3.5 SF10~SF14 Safety Output Functions ......................................................................................................... 24
2.3.6 SF15 and SF16 Safety Input Functions ...................................................................................................... 27
2.3.7 SF17 Cartesian Limit A ............................................................................................................................... 29
2.3.8 SF18 Cartesian Limit B ............................................................................................................................... 29
2.3.9 Safety Checksum ........................................................................................................................................ 30
3. Safety Related Operation ............................................................................................................................................ 31
Joint Movement without Drive Power ................................................................................................................ 31
During an Emergency Stop Procedure ....................................................................................................... 31
Extending the Robot from the Packing Pose .............................................................................................. 31
Power Loss .................................................................................................................................................. 31
Operation Mode and Mode Switching ................................................................................................................ 32
Auto Mode ................................................................................................................................................... 32
Safety Manual TECHMAN ROBOT Safety System 3.3
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