Techman Robot TM Palletizing Operator, User Manual

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TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 48
DANGER:
Enabling Device only stops the robot in Manual Mode and not stop the robot in Auto Mode.
SF6 Motion Latching Mechanism
SF6 Motion Latching Mechanism provides a safety function to prevent pillar to move when robot
moves. This safety function latches the motion between robot and pillar, which limit the
combined speed of robot and pillar under manual control mode.
Safety Function
Number
Name
Stop
Category
Action of Fault Detection
SF6
Motion Latching
Mechanism
Cat.2 stop
•
No C1 Discrepancy
•
C2 Discrepancy: Cat.0
Stop
•
Others: Cat.0 stop
Table 9: Stop Category and Action of Fault Detection of SF6
SF7 Emergency Stop Output, SF8 Safeguard-Pause Output, and SF9 Safeguard-Human-
Machine Safety Settings Output
Refer to the table below regarding details of the output signal, triggering status, action of output
upon Cat. 1 Stop, and fault-detection actions.
Safety
Function
Number
Name
Output
Signal in
Regular
Status
Definition of
Triggered
Status
Output
signal of
Triggered
Status Action of
Output when
System Cat.1
Stop Occurs
Action of Fault
Detection
SF7
Emergency Stop
Output
HIGH
ESTOP result
from SF0
，
SF1
and SF2
LOW LOW
C3 Discrepancy:
Cat.0 Stop
SF8
Safeguard-
Pause Output
HIGH
Protective Stop
result from SF3
LOW HIGH
C3 Discrepancy:
Cat.0 Stop
SF9
Safeguard-
Human-Machine
Safety Settings
Output
HIGH
Human-Machine
Safety Settings
triggered from
SF4
LOW HIGH
C3 Discrepancy:
Cat.0 Stop
Table 10: Stop Category and Action of Fault Detection of SF7, SF8 and SF9
IMPORTANT:
The resume of outputs follows the corresponded inputs. For example, the SF7-Emergency Stop
Output would output signal LOW when the SF1-Pendant Emergency Stop is pressed. When the