Safety Manual TECHMAN ROBOT Safety System 3.3 27
Refer to the table below for indication of the example of application using the safety functions.
Safety
Function
Number
Name
Example of Application
SF10
Robot ESTOP Output
Stop other devices when emergency stop button connected to the robot
triggered.
SF11
User Connected External
Safeguard Output
Stop other devices when safeguard connected to SF3 of the robot
triggered.
SF12
User Connected External
Safeguard Output for
Human–Machine Safety
Settings
Stop other devices or let it change to Human–Machine Safety Settings
when safeguard connected to SF9 of the robot triggered.
SF13
Robot Internal Protective
Stop Output
Stop other devices when robot is stopped for SF4,5,6,7,or 8.
Stop other devices when the robot is stopped for SF15 Enabling Device.
Stop other devices when the robot is stopped for SF17 Cartesian Limit
A.
SF14
Robot Moving Output
Prevent other devices from moving when the robot moves, e.g.
application for robot mounted on an AGV or motional axis. (One should
stand still while the other one is moving)
Table 9: Application example of Safety Output Function
WARNING:
SF14 Robot Moving Output is designed for stopping the other machine when the robot is
moving. When the robot is not moving, the output is HIGH, and this signal is provided to allow
other machine’s movement, not be used to stop the other machine. To stop the other machine
while the robot is standstill, use other measures such as the safeguard output of the robot or
use the safety device to stop both the robot and other machine at the same time.
2.3.6 SF15 and SF16 Safety Input Functions
SF15 and SF16 provides more safety input functions for system integration.
SF15 User Connected Enabling Device Input provides the dual channel input ports for user to connect to a
three-position enabling device when risk assessment indicates. Enable this safety function in the Safety
Setting in the software to use it by referring to the
Software Manual
of the respective software version. Note
that the Open or Close status of this safety input will not affect the operation in Auto Mode. When this
function is enabled and connected to the enabling switch, in Manual Mode, all manual control operations
are enabled only when users press the three position enabling device in the middle position. If the Enabling
Device is released or fully pressed, the robot performs a protective stop. When starting a manual trial run of
the project pressing the PLAY button, the Enabling Device should be pressed in the middle position. When
Enabling Device is released or fully pressed during the Manual Trial Run mode, the Project Speed will
always automatically return to 5%. Connect this safety function only to the three-position enabling device
