Safety Manual TECHMAN ROBOT Safety System 3.3 28
compliant with IEC60204-1. Note that the input of this safety function has two input statuses only, so the
Enabling Device should not have an enabled output during the procedure from the fully pressed status to
the fully released status.
SF16 User Connected ESTOP Input without Robot ESTOP Output provides an emergency input function
without triggering SF10 Robot ESTOP Output. This safety function provides the possibility to prevent the
deadlock of the emergency stop between the robot and other devices/machines in different system
integration design.
Refer to the table below for the stop category and the reaction of fault detection of the safety functions. The
functions come with discrepancy detection to maintain the safety status when detecting conflicting signals
from a dual channel input. When discrepancy occurs, the system will enter lock in a safety status of Cat.1
stop. To resume from the 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
Light Ring will have the light blue light on to indicate the Safe Start up Mode.
2. Press the Stop Button on the Robot Stick for about three seconds. The robot will perform the
calibration action of the start-up process and return to the previous operating mode.
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 from Cat. 0 stop status.
Safety
Function
Number
Name
Stop Category
Reaction of Fault Detection
SF15
User Connected Enabling
Device Input
Cat. 2 stop
Discrepancy: Cat.1 Stop
Others: Cat. 0 stop
SF16
User Connected ESTOP Input
without Robot ESTOP Output
Cat. 1 stop
Discrepancy: Cat.1 Stop
Others: Cat. 0 stop
Note: Stop categories in accordance with IEC 60204-1.
Table 10: Stop Category and Reaction of Fault Detection of SF15 and SF16
DANGER:
Enabling Devices only stop the robot in Manual Mode and will not stop the robot in Auto
Mode.
