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Omron Techman Robot manual available for free PDF download: Safety Manual
Omron Techman Robot Safety Manual (54 pages)
Safety system 3.3
Brand:
Omron
| Category:
Robotics
| Size: 3 MB
Table of Contents
Table of Contents
6
Revision History Table
9
1 Comprehensive Information
10
Overview
10
Applicable Product Version
10
Safety Warning Symbols
10
Table 1: Safety System Version
10
Safety Precautions
11
Table 2: Safety Warning Symbols
11
Validation and Responsibility
12
Limitation of Liability
12
Overall Safety Warning
12
Intended Use
14
Risk Assessment
15
2 Safety Function
17
Overview
17
General Information
17
Safety Function Definitions
17
Table 3: Safety Function Definitions
17
Stopping Time and Stopping Distance in the Safety System
18
Software Safety Setting Permissions
18
Explanation of Safety Functions
18
SF0 Robot Stick ESTOP and SF1 User Connected ESTOP Input
18
Table 4: Stop Category and Action of Fault Detection of SF0 and SF1
19
SF2 Encoder Standstill
20
SF3 User Connected External Safeguard Input and SF9 User Connected External Safeguard Input for
20
Human-Machine Safety Settings
20
SF4~SF8 Defined Safety Functions
21
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
SF10~SF14 Safety Output Functions
24
Figure 1: X, Y, & Z Axes
24
Table 8: Output Signal and Action of Fault Detection of SF10~SF14
26
SF15 and SF16 Safety Input Functions
27
Table 9: Application Example of Safety Output Function
27
Table 10: Stop Category and Reaction of Fault Detection of SF15 and SF16
28
SF17 Cartesian Limit a
29
SF18 Cartesian Limit B
29
Table 11: Stop Category and Reaction of Fault Detection of SF17
29
Safety Checksum
30
Table 12: Stop Category and Reaction of Fault Detection of SF18
30
Figure 2: 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
Manual Mode
32
Hold to Run
33
Switch between Modes
33
Singularity Point
34
Table 13: the R
34
Values of each Product Series
34
Figure 3: the Definition of R Offset
35
Figure 4: Extensible Singularity Point in Space
36
Figure 5: Wrist Singularity Point in Space
36
Figure 6: the Solution When Encountering Singularity Point in Space (1/2)
37
Figure 7: the Solution When Encountering Singularity Point in Space (2/2)
38
Replacing the Robot Stick in Local Control
39
Table 14: Control Methods in Respective Modes Summary
39
4 Compliance of Safety Regulations
40
Compliance
40
Requirement of Enabling Device
40
Access of Safety Setting
40
5 Declaration of Incorporation
41
Table 15: Declaration of Incorporation
43
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
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
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