Sf10~Sf16 Defined Safety Functions - Techman Robot TM Palletizing Operator User Manual

SF1-Pendant Emergency Stop button is rotated and pop-up, the ESTOP result is removed and
SF7-Emergency Stop Output would resume to output signal HIGH.

SF10~SF16 Defined Safety Functions

The name and description of SF10 to SF16 safety functions are listed in the following table as
shown below:
Safety Function
SF10
SF11
SF12
SF13
SF14
SF15
SF16
Refer to the table below for the stop category and the action of fault detection for the safety
functions. When any fault other than discrepancy 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
TM Palletizing Operator User's Manual
Name
The additional torque that joint received after
compensating the weight of tool in TCP setting, weight of
Joint Torque workpiece in payload setting in programming, and the
Monitoring weight of the robot body. Each joint's torque limit condition
can be set. When the robot exceeds its set value, it will
trigger a protective stop.
Each joint's motion angle limit can be set. When the robot
Joint Position Limit
exceeds its set value, it will trigger a protective stop.
Each joint's motion speed range can be set. When the
Joint Speed Limit
robot exceeds its set value, it will trigger a protective stop.
The speed limit of the tool center point can be set. When
TCP Speed Limit the robot exceeds its set value, it will trigger a protective
stop.
The additional force that TCP received after
compensating the weight of tool in TCP setting and weight
of workpiece in payload setting in the programming. The
force limit of the tool center point can be set. When the
TCP Force Limit robot exceeds its set value, it will trigger a protective stop.
The force of the tool center point is the external force at
the tool center point estimated through the model by the
robot system. It is not the protection value of applied
external force at the tool center point by the robot system.
Provides a safety function for users to set Cartesian limits
to the robot. Cubical and cylindrical limits can be set, and
Cartesian Limit A
both TCP and elbow are monitored. When the robot
exceeds its set value, it will trigger a protective stop.
Provides a safety function for users to set Cartesian limits
to the robot. Cubical and cylindrical limits can be set, and
Robot Cartesian
both TCP and elbow are monitored. Designed to let only
Limit B
the robot trigger Human–Machine Safety Settings while
the robot exceeds its set value.
Table 11: Safety Function SF10~SF16 Definitions
Product Version: 1.1 Document Version: 1.2
Description
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