Safety-Rated Stop Function

	Safety Function	Safety Function Trigger Condition Triggering Event	Intended Action Intended Result	PFHd	PL, SIL
1	Emergency Stop	If the Emergency Stop switch connected to the TBSFT EM terminal is pressed If the Emergency Stop switch of the teach pendant is pressed	Emergency Stop is engaged according to the configured Safety Stop Mode. STO or SS1	2.87E-8 /h	PL e Cat. 4 SIL 3
2	Protective Stop	In case the protective equipment connected to the PR terminal of TBSFT is activated,	Emergency Stop is engaged according to the configured Safety Stop Mode. STO, SS1, or SS2	1.78E-7 /h	PL d Cat. 3 SIL 2

Safety Function

Safety Function Trigger Condition

Triggering Event

Intended Action

Intended Result

PFHd

PL, SIL

Emergency Stop

If the Emergency Stop switch connected to the TBSFT EM terminal is pressed

If the Emergency Stop switch of the teach pendant is pressed

Emergency Stop is engaged according to the configured Safety Stop Mode.

2.87E-8

PL e Cat. 4

SIL 3

Protective Stop

In case the protective equipment connected to the PR terminal of TBSFT is activated,

Emergency Stop is engaged according to the configured Safety Stop Mode.

1.78E-7

PL d Cat. 3

SIL 2

How to resume work after a protective stop

If the tool center point (TCP) of the robot is within the Collaborative Zone and the Nudge function is enabled, the user can apply force to the robot directly (Nudge) to resume work. For more information, refer to and Nudge.