Omron Techman Robot Safety Manual page 7

Manual Mode ............................................................................................................................................... 32
Switch Between Modes ............................................................................................................................... 33
Hold to Run ........................................................................................................................................................ 33
Singularity Point ................................................................................................................................................. 34
Replacing the Robot Stick in Local Control ....................................................................................................... 39
4. Compliance of Safety Regulations .............................................................................................................................. 40
Compliance ........................................................................................................................................................ 40
Requirement of Enabling Device ................................................................................................................. 40
Access of Safety Setting ............................................................................................................................. 40
5. Declaration of Incorporation ........................................................................................................................................ 41
Appendix A. Certificate of Compliance and Declaration of Incorporation ....................................................................... 44
Appendix B. Verifications of EMC Compliance ............................................................................................................... 48
Appendix C. TM Robot Stopping Time and Distance for all Series Product Models ...................................................... 50
Tables
Table 1: Safety System Version ........................................................................................................................ 10
Table 2: Safety Warning Symbols ..................................................................................................................... 11
Table 3: Safety Function Definitions ................................................................................................................. 17
Table 4: Stop Category and Action of Fault Detection of SF0 and SF1 ........................................................... 19
Table 5: Stop Category and Action of Fault Detection of SF3 and SF9 ........................................................... 21
Table 6: SF4~SF8 Defined Safety Functions ................................................................................................... 22
Table 7: Stop Category and Reaction of Fault Detection of SF4~SF8 ............................................................. 22
Table 8: Output Signal and Action of Fault Detection of SF10~SF14 ............................................................... 26
Table 9: Application example of Safety Output Function .................................................................................. 27
Table 10: Stop Category and Reaction of Fault Detection of SF15 and SF16 ................................................. 28
Table 11: Stop Category and Reaction of Fault Detection of SF17 .................................................................. 29
Table 12: Stop Category and Reaction of Fault Detection of SF18 .................................................................. 30
Table 13: The R
offset
Table 14: Control Methods in Respective Modes Summary ............................................................................. 39
Table 15: Declaration of Incorporation .............................................................................................................. 43
Table 16: Stopping Time and Distance for TM5-700 Series ............................................................................. 50
Table 17: Stopping Time and Distance for TM5-900 Series ............................................................................. 51
Table 18: Stopping Time and Distance for TM14 Series .................................................................................. 52
Table 19: Stopping Time and Distance for TM12 Series .................................................................................. 53
Figures
Figure 1: X, Y, & Z axes .................................................................................................................................... 24
Safety Manual TECHMAN ROBOT Safety System 3.3
values of each product series ........................................................................................... 34
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