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.
| PL e Cat. 4 SIL 3 | |
| 2 | Protective Stop | If the protective device connected to the TBSFT PR terminal is activated | Emergency Stop is engaged according to the configured Safety Stop Mode.
| PL d Cat. 3 SIL 2 |
How to restart work after protective stop
- If the robot tool center point (TCP) is within the Collaborative Zone and if the Nudge function is enabled, the user can apply force to the robot directly (Nudge) to restart work. For more information, refer to Collaborative Zone Settings and Nudge Setting.