TM Palletizing Operator User’s Manual
Product Version: 1.1 Document Version: 1.2
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SF1-Pendant Emergency Stop button is rotated and pop-up, the ESTOP result is removed and
SF7-Emergency Stop Output would resume to output signal HIGH.
SF10~SF16 Defined Safety Functions
The name and description of SF10 to SF16 safety functions are listed in the following table as
shown below:
Safety Function
Name
Description
SF10
Joint Torque
Monitoring
The additional torque that joint received after
compensating the weight of tool in TCP setting, weight of
workpiece in payload setting in programming, and the
weight of the robot body. Each joint’s torque limit condition
can be set. When the robot exceeds its set value, it will
trigger a protective stop.
SF11
Joint Position Limit
Each joint’s motion angle limit can be set. When the robot
exceeds its set value, it will trigger a protective stop.
SF12
Joint Speed Limit
Each joint’s motion speed range can be set. When the
robot exceeds its set value, it will trigger a protective stop.
SF13
TCP Speed Limit
The speed limit of the tool center point can be set. When
the robot exceeds its set value, it will trigger a protective
stop.
SF14
TCP Force Limit
The additional force that TCP received after
compensating the weight of tool in TCP setting and weight
of workpiece in payload setting in the programming. The
force limit of the tool center point can be set. When the
robot exceeds its set value, it will trigger a protective stop.
The force of the 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 the robot system.
SF15
Cartesian Limit A
Provides a safety function for users to set Cartesian limits
to the robot. Cubical and cylindrical limits can be set, and
both TCP and elbow are monitored. When the robot
exceeds its set value, it will trigger a protective stop.
SF16
Robot Cartesian
Limit B
Provides a safety function for users to set Cartesian limits
to the robot. Cubical and cylindrical limits can be set, and
both TCP and elbow are monitored. Designed to let only
the robot trigger Human
–
Machine Safety Settings while
the robot exceeds its set value.
Table 11: Safety Function SF10~SF16 Definitions
Refer to the table below for the stop category and the action of fault detection for the safety
functions. 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
Summary of Contents for TM Palletizing Operator
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