Techman Robot TM Palletizing Operator, Руководство пользователя, Страница: 50 / 185

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 50
stop status.
Safety Function Name Stop Category Action of Fault Detection
SF10 Joint Torque Monitoring Cat. 2 stop Cat. 0 stop
SF11 Joint Position Limit Cat. 2 stop Cat. 0 stop
SF12 Joint Speed Limit Cat. 2 stop Cat. 0 stop
SF13 TCP Speed Limit Cat. 2 stop Cat. 0 stop
SF14 TCP Force Limit Cat. 2 stop Cat. 0 stop
SF15 Cartesian Limit A Cat. 2 stop Cat. 0 stop
SF16 Robot Cartesian Limit B -- Cat. 0 stop
Table 12: Stop Category and Action of Fault Detection of SF10~ SF16
Refer to the relevant contents in TMflow Software Manual for the detailed setting of each safety
function.
For the robot system recovery from protective stop manually in SF10 – SF16, refer to the
relevant sections in Safety Manual (Techman Robot Safety System 3.3).
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
SF14 TCP force near the singularity case. SF14 TCP force should not be solely applied as the
only safety protection measure in human-robot collision case. It’s always recommended to
include SF10 Joint Torque Monitoring in the human-robot collision safety protection measure.
WARNING:
Cartesian Limit A is designed when robot's monitored point exceed the set limit, the robot
performs a protective stop. It does not mean the monitored point will not exceed the limit, due
to stopping time and stopping distance. Take stopping time and stopping distance into
consideration when use this safety function when setting the restricted space and
safeguarded space in system integration.
DANGER:
1.
Cartesian Limit cannot be used sorely as a safety measure for preventing collision
between human and robot. When this safety function is used, other means should be
provide to prevent human or the limb enters the limited space, or detect the entering of
the limited space with a protective measure.
2.
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