Techman Robot TM12S Series Hardware Installation Manual page 82

5. The functional testing of Speed Limit functions
6. The functional testing of Soft Axis Limit functions
7. The functional testing of safety output functions
The robot and the system should perform either Category 1 Stop or Category 2 Stop with
respect to 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.