Omron TM Robot S Series Hardware Installation Manual page 79

7. The functional testing of safety output functions
The robot and the system should perform either Category 1 Stop or Category 2 Stop
concerning these different safety functions. For details about the stop categories, trigger
and resume method of the safety functions mentioned above, see the corresponding safety
system version of the Safety Manual.
Omron TM Collaborative Robot S Series: TM5S and TM7S Hardware Installation Manual 78