Safety Manual TECHMAN ROBOT Safety System 3.3 17
2. Safety Function
2.1 Overview
TM Robot incorporates multiple safety functions, and provides interfaces for additional external protective devices.
2.2 General Information
The following describes common information of the TM Robot system safety functions:
2.2.1 Safety Function Definitions
Safety Function Definitions of TM Robot System are listed in the following table:
Safety
Function
Number
Name
Robot Stopping
Function
Structure
Category
PL
SF0
Robot Stick ESTOP
Emergency Stop
Cat. 3
d
SF1
User Connected ESTOP Input
Emergency Stop
Cat. 3
d
SF2
Encoder Standstill
Protective Stop
Cat. 2
d
SF3
User Connected External Safeguard Input
Protective Stop
Cat. 2
d
SF4
Joint Torque Monitoring
Protective Stop
Cat. 2
d
SF5
Joint Position Limit
Protective Stop
Cat. 2
d
SF6
Joint Speed Limit
Protective Stop
Cat. 2
d
SF7
TCP Speed Limit
Protective Stop
Cat. 2
d
SF8
TCP Force Limit
Protective Stop
Cat. 2
d
SF9
User Connected External Safeguard Input for
Human-Machine Safety Settings
--
Cat. 2
d
SF10
Robot ESTOP Output
--
Cat. 3
d
SF11
User Connected External Safeguard Output
--
Cat. 3
d
SF12
User Connected External Safeguard Output for
Human-Machine Safety Settings
--
Cat. 3
d
SF13
Robot Internal Protective Stop Output
--
Cat. 3
d
SF14
Robot Moving Output
--
Cat. 2
d
SF15
User Connected Enabling Device Input
Protective Stop
Cat. 2
d
SF16
User Connected ESTOP Input without Robot
ESTOP Output
Emergency Stop
Cat. 3
d
SF17
Cartesian Limit A
Protective Stop
Cat. 2
d
SF18
Cartesian Limit B
--
Cat. 2
d
Table 3: Safety Function Definitions
Note:
1. The structure category according to ISO 13849-1:2015.
2. PL (Performance Level) in accordance with ISO 13849-1:2015.
3. Emergency stop and protective stop in accordance with ISO 10218-1:2011.
4. Stop categories in accordance with IEC 60204-1.
