Omron Techman Robot, Safety Manual

Page 1: ...Safety Manual TECHMAN ROBOT Safety System 3 3 i Safety Manual Original Instruction TECHMAN ROBOT Safety System 3 3 1648 E 04...

Page 2: ...le or in part without prior authorization from the Corporation No information contained herein shall be considered an offer or commitment The information herein is subject to change without notice The...

Page 3: ...place in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non complying Product ii repair the non complying Product or iii repay or credit Bu...

Page 4: ...uitability of the Product in combination with the end product machine system or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product wit...

Page 5: ...ade However some specifications of the Product may be changed without any notice When in doubt special part numbers may be assigned to fix or establish key specifications for your application Please c...

Page 6: ...ns 18 2 3 Explanation of Safety Functions 18 2 3 1 SF0 Robot Stick ESTOP and SF1 User Connected ESTOP Input 18 2 3 2 SF2 Encoder Standstill 20 2 3 3 SF3 User Connected External Safeguard Input and SF9...

Page 7: ...p Category and Action of Fault Detection of SF3 and SF9 21 Table 6 SF4 SF8 Defined Safety Functions 22 Table 7 Stop Category and Reaction of Fault Detection of SF4 SF8 22 Table 8 Output Signal and Act...

Page 8: ...3 The Definition of Roffset 35 Figure 4 Extensible Singularity Point in Space 36 Figure 5 Wrist Singularity Point in Space 36 Figure 6 The Solution when Encountering Singularity Point in Space 1 2 37...

Page 9: ...System 3 3 9 Revision History Table Revision Date Revised Content 01 December 2019 Original release 02 January 2020 Updated Appendix A 03 April 2020 Updated Chapter 4 1 2 04 August 2020 Updated info o...

Page 10: ...3 2 Software version SW 1 80 Within the scope of hardware and software combination above the safety system version remains the same as TECHMAN ROBOT Safety System 3 3 Table 1 Safety System Version Us...

Page 11: ...fety Manual according to the software and hardware version of this product and must comply with all local and national safety regulations of the location where the robot is installed Observe the Inten...

Page 12: ...opriate software safety features Ensuring the user will not modify any safety measures Ensuring all systems are correctly designed and installed Specifying instructions for use Clearly marking the con...

Page 13: ...he operator shall avoid wearing loose clothing or wearing other accessories such as necklaces ties bracelets etc to avoid injury caused by clothing or accessories becoming entangled in the machine dur...

Page 14: ...s on the safety of human robot cooperative operation by design but the cooperative operation is only for application procedures that have undergone a risk assessment including robots related periphera...

Page 15: ...of injury to persons in the event of an accident Therefore the risk assessment needs to include any operational actions of the machinery within the scope of the assessment After the risk assessment i...

Page 16: ...Protection and Lockout Tagout Capability in accordance with the National Electrical Code and any local codes WARNING ELECTROCUTION RISK It is necessary for a skilled and instructed person to perform A...

Page 17: ...Stop Cat 2 d SF6 Joint Speed Limit Protective Stop Cat 2 d SF7 TCP Speed Limit Protective Stop Cat 2 d SF8 TCP Force Limit Protective Stop Cat 2 d SF9 User Connected External Safeguard Input for Human...

Page 18: ...take place when using a network connection The Corporation is not liable for the possible harm caused by malicious attacks or intrusion of the users network to modify the permissions management syste...

Page 19: ...cted ESTOP Input port SF1 so they do not diminish the overall performance level of the Emergency Stop Activation of an emergency stop initiates a Cat 1 stop The Indication Light Ring of the robot will...

Page 20: ...a Cat 0 Stop When any fault other than discrepancy is detected in the safety function the system performs a Cat 0 stop When a Cat 0 stop occurs reboot the robot system to recover from Cat 0 stop statu...

Page 21: ...p Others Cat 0 stop Note Stop categories in accordance with IEC 60204 1 Table 5 Stop Category and Action of Fault Detection of SF3 and SF9 SF9 is a function to decrease the robot speed to which is set...

Page 22: ...tool center point is the external force at the tool center point estimated through the model by the robot system It is not the protection value of applied external force at the tool center point by t...

Page 23: ...nt for the detection of SF8 TCP force near the singularity case SF8 TCP force should not be solely applied as the only safety protection measure in human robot collision case It s always recommended t...

Page 24: ...the action of the fault detection When any fault other than discrepancy is detected in the safety functions the system performs a Cat 0 stop When Cat 0 stop occurs reboot the robot system to recover...

Page 25: ...3 is SF14 Robot Moving Output it does not need to add with the corresponding input function SF14 is the combination of encoder monitoring mechanism and output function and all related PFHd has been ta...

Page 26: ...nd 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...

Page 27: ...nd 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 outp...

Page 28: ...he safety status first check the input wiring correct it and follow the steps below to resume 1 Let the dual inputs open and close again At this time the robot arm will be re powered The Indication Li...

Page 29: ...the robot performs a protective stop It does not mean the spot to monitor will not exceed the limit due to the stopping time and the stopping distance Take the stopping time and the stopping distance...

Page 30: ...the limited space or detect the entering of the limited space with a protective measure 2 3 9 Safety Checksum This function is intended for generating a Checksum from the safety settings and showing...

Page 31: ...solved press the stop button on the Robot Stick for about three seconds the robot will perform the calibration startup process and return to the original operating mode CAUTION All personnel should be...

Page 32: ...the FREE button on the end module does not actuate and cannot perform Hand Guiding operation Auto Remote Mode is a mode that can only be accessed from Auto Mode when user gets control permission and n...

Page 33: ...the path motion of the robot lower than 250 mm s The buttons on the Robot Stick are for the adjustment of the project run speed Each button press increases or decreases project run speed by 5 WARNING...

Page 34: ...l joint positions The joint position that will cause the robot to be unable to perform Cartesian control is a singularity point When the robot encounters a singularity point it will stop motion and in...

Page 35: ...nt in Space When the third joint is almost at its zero degree which means the robot is almost at the maximum working radius The space exceeding this radius is the Extensible Singularity Point in Space...

Page 36: ...large angle displacement of the fourth joint but it will be stopped due to stop criteria of motion speed Once the robot enters the Wrist Singularity Point in Space it will stop and report an error Fi...

Page 37: ...to avoid the arm path between the points crossing the Internal Singularity Point in Space as shown in the figure below Figure 6 The Solution when Encountering Singularity Point in Space 1 2 When the...

Page 38: ...3 38 Figure 7 The Solution when Encountering Singularity Point in Space 2 2 This example demonstrates how to avoid the rotational axes of the fourth and sixth joint being parallel when the user needs...

Page 39: ...unction hold to run or speed adjustment using functions according to different control method in respective mode The X means the user is allowed to use the function The user can Play Using The user ca...

Page 40: ...pliance This product complies with the combined scope of ISO 10218 1 2011 and ISO TS 15066 The relevant design and corresponding provisions in safety regulations of this part are listed in the followi...

Page 41: ...his product Items marked as B solely The items that are to be satisfied by the machinery equipment provider meaning the machinery provider has satisfied or has specified in each of the Software and Ha...

Page 42: ...of machinery to facilitate its handling X 1 1 6 Ergonomics X X 1 1 7 Operating positions X 1 1 8 Seating X 1 2 Control Systems 1 2 1 Safety and reliability of control systems X X 1 2 2 Control device...

Page 43: ...X 1 5 13 Emissions of hazardous materials and substances X X 1 5 14 Risk of being trapped in a machine X 1 5 15 Risk of slipping tripping or falling X 1 5 16 Lightning X 1 6 Maintenance 1 6 1 Machine...

Page 44: ...Manual TECHMAN ROBOT Safety System 3 3 44 Appendix A Certificate of Compliance and Declaration of Incorporation The manufacturer in the article above should be deemed to be original equipment manufac...

Page 45: ...Safety Manual TECHMAN ROBOT Safety System 3 3 45 The manufacturer in the article above should be deemed to be original equipment manufacturer...

Page 46: ...Safety Manual TECHMAN ROBOT Safety System 3 3 46 The manufacturer in the article above should be deemed to be original equipment manufacturer...

Page 47: ...Safety Manual TECHMAN ROBOT Safety System 3 3 47...

Page 48: ...Safety Manual TECHMAN ROBOT Safety System 3 3 48 Appendix B Verifications of EMC Compliance...

Page 49: ...Safety Manual TECHMAN ROBOT Safety System 3 3 49...

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Page 54: ...Safety Manual TECHMAN ROBOT Safety System 3 3 54 I648 E 04 19888 320 D 0820 Techman Robot Inc 2019 2020 All Rights Reserved...