Safety Manual TECHMAN ROBOT Safety System 3.3 23
Switching the mode on the robot stick
Jogging the robot in UI Controller
Changing digital/analog output value in UI Controller
Entering Step Run in UI
Pressing “Test” in UI to move the robot
Pressing “Move (+)” in UI to move the robot (except Posture Setting, Vision Job, the interruption while
moving in Path node and Path Generator)
DANGER:
Pay attention that the "TCP Force” (Tool Center Point Force) is the external force at the tool
center point estimated through the model by the robot system, not the protection value of the
external force at the tool center point on the robot system. When the robot system exceeds
the external force value at the tool center point, the robot will perform a category 2 stop. In this
condition, applied forces will exceed this value. Therefore, clearly understand the amount of
the external force applied before the robot comes to a complete stop. The extent this value
will be exceeded will increase as the robot speed increases. This cannot be the primary risk
mitigation for human-robot collision.
DANGER:
When the motion of TM Robot is passing the area near singular space, due to the nature of
singularity, the TCP force may be estimated incorrectly. Users can set the robot's motion
properly, e.g. do not set the motion too close to the singularity point in space, to avoid this
situation. This is a residual risk and users should apply risk assessment for the detection of
SF8 TCP force near the singularity case. SF8 TCP force should not be solely applied as the
only safety protection measure in human-robot collision case. It’s always recommended to
include SF4 Joint Torque Monitoring in the human-robot collision safety protection measure.
DANGER:
The speed, power and force limiting according to different body region in Human-Machine
Safety Settings are designed for user to quickly set up an initial robot application in
collaborative workspace following the biomechanical limits of each body region listed in
ISO/TS 15066. The initial parameters are tested* based on the conditions state in the same
UI, for details please refer to the software manual. User should still perform risk assessment
on real application before deployment, if any parameter needed to be modified, user can enter
More Limit Setting page to modify. User shall take responsibility for human body region which
is not listed in this graph, and ensure the robot does not have any chance to be in contact with
any vulnerable body region such as spine and hindbrain.
*The default speed limit on each body region is derived from the test based on the following
criteria:
•
100mm long and 0.67kg weight tool for X and Y axes impact test is installed on the robot
TCP. The weight of tool is compensated in TCP setting.
•
100mm long and 0.12kg weight tool for Z axes impact test is installed on the robot TCP.
The weight of tool is compensated in TCP setting.
•
The impact force of the robot at the half reach collided with the sensor matches the
biomechanical limits of each body region defined in ISO/TS 15066.
