Techman Robot TM Palletizing Operator, User Manual, Page: 47 / 185

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 47
the setting for manual or automatic resume, refer to the relevant contents in the Software
Manual. While the SF3 External Safeguard-Pause is triggered, both robot and pillar motion will
pause. While SF4 External Safeguard-Human-Machine Safety Settings is triggered, the robot will
enter lower speed set in Human-Machine Safety Settings and the pillar motion will pause.
Refer to the table below for the stop category and the reaction of fault detection of the safety
functions. The functions come with the discrepancy detection to maintain the safety status when
detecting different signal from dual channel input. When C1 discrepancy occurs, the system will
enter and lock in a safety status. To resume from the safety status, first check the input wiring,
correct it, and let the dual inputs open and close again, to enable the robot to the resume status
of the safety function. When any fault other than discrepancy 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
Action of Fault Detection
SF3 External Safeguard-Pause Cat.2 stop
C1 Discrepancy: Cat.2 Stop
C2 Discrepancy: Cat.1 Stop
Others: Cat.0 stop
SF4
External Safeguard-
Human-Machine Safety
Settings
--
C1 Discrepancy: Trigger Human-
Machine Safety Settings
C2 Discrepancy: Cat.1 Stop
Others: Cat.0 stop
Table 7: Stop Category and Action of Fault Detection of SF3 and SF4
SF5 Pendant Enabling Device
SF5 Pendant Enabling Device provides a three-position enabling device on pendant. Enable this
safety function in the Safety Setting in the software to use it by referring to the TMflow Software
Manual of the respective software version. Be noticed that Open or Close of this safety input will
not affect the operation in Auto Mode. When this function is enabled in Manual Mode,
Safety Function
Number
Name
Stop
Category
Action of Fault Detection
SF5
Pendant
Enabling Device
Cat.2 stop
C1 Discrepancy: Cat.2 Stop
C2 Discrepancy: Cat.1 Stop
Others: Cat.0 stop
Table 8: Stop Category and Action of Fault Detection of SF5