Safety Manual TECHMAN ROBOT Safety System 3.3 22
Safety
Function
Name
Description
SF4
Joint Torque Monitoring
The additional torque that joint received after compensating the
weight of tool in TCP setting, weight of workpiece in payload
setting in programming, and the weight of the robot body. Each
joint’s torque limit condition can be set. When the robot
exceeds a set value, it will trigger a protective stop.
SF5
Joint Position Limit
Each joint’s motion angle limit can be set. When the robot
exceeds a set value, it will trigger a protective stop.
SF6
Joint Speed Limit
Each joint’s motion speed range can be set. When the robot
exceeds a set value, it will trigger a protective stop.
SF7
TCP Speed Limit
The speed limit of the tool center point can be set. When the
robot exceeds a set value, it will trigger a protective stop.
SF8
TCP Force Limit
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 robot exceeds a 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.
Table 6: SF4~SF8 Defined Safety Functions
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 is 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 stop status.
Safety
Function
Number
Name
Stop
Category
Reaction of
Fault Detection
SF4
Joint Torque Monitoring Cat. 2 stop
Cat. 0 stop
SF5
Joint Position Limit
Cat. 2 stop
Cat. 0 stop
SF6
Joint Speed Limit
Cat. 2 stop
Cat. 0 stop
SF7
TCP Speed Limit
Cat. 2 stop
Cat. 0 stop
SF8
TCP Force Limit
Cat. 2 stop
Cat. 0 stop
Note: Stop categories in accordance with IEC 60204-1.
Table 7: Stop Category and Reaction of Fault Detection of SF4~SF8
Refer to the relevant contents in the
Software Manual
for the setting of each item. Users can use any
method listed below to recover the robot from protective stop manually from SF4 to SF8:
Pressing the STOP or PLAY button on robot stick
Any operation on the icons in the left sidebar of the TMflow (except Shutdown)
Pressing the FREE button in the end module of TM Robot
