Safety Manual TECHMAN ROBOT Safety System 3.3 26
Safety
Function
Number
Name
Output
Signal
in
Regular
Status
Definition
of
Triggered
Status
Output
signal of
Triggered
Status
Action of
Output when
Discrepancy
Detected
from Safety
IO Input Ports
Action of
Output
when
System
Cat. 0
Stop
Occurs
Action of
Output
when
System
Cat. 1
Stop
Occurs
Action of
Fault
Detection
SF10
Robot
ESTOP
Output
HIGH
ESTOP
result from
SF0 and
SF1
LOW
LOW
LOW
LOW
Cat. 0
stop
SF11
User
Connected
External
Safeguard
Output
HIGH
Protective
Stop result
from SF3
LOW
LOW
LOW
HIGH
Cat. 0
stop
SF12
User
Connected
External
Safeguard
Output for
Human–
Machine
Safety
Settings
HIGH
External
Safeguard
Input result
from SF9
LOW
LOW
LOW
HIGH
Cat. 0
stop
SF13
Robot
Internal
Protective
Stop Output
HIGH
Protective
Stop result
from
SF4,5,6,7,8
,15,17
LOW
For SF 15
LOW
For Others
--
LOW
HIGH
Cat. 0
stop
SF14
Robot
Moving
Output
HIGH
Any joint
speed
moves no
less than
0.3˚/s
(Robot is
moving)
LOW
--
LOW
LOW
Cat. 0
stop
Table 8: Output Signal and Action of Fault Detection of SF10~SF14
