TCP Orientation Monitor

Table 3‑20 TCP Orientation Monitor implement logic

Trigger condition	Output response	Reset condition
The intersection angle between TCP orientation and reference orientation is exceeding by Orientation deviation - 5° (Refer to the “Safety Parameters - Safety TCP Orientation” chapter), the SS2 protection triggered.	Trigger SS2 if fault detected.	Refer to the “Safety Functions - Bypass Position Related Safety Function” chapter
The intersection angle between TCP orientation and reference orientation is exceeding by Orientation deviation (Refer to the “Safety Parameters - Safety TCP Orientation” chapter), the safety controller performs the STO function.	Trigger STO if fault detected.