1.2.1 Safety functions

The collaborative robot is intended to carry out collaborative tasks based on the following safety functions. For the details of the safety functions, see the “Safety Function Manual for Collaborative Robots.”

• STO: Safe Torque Off

• SS1: Safe Stop 1

• SS2: Safe Stop 2

• EM (Emergency) Stop

• Protective Stop

• SBC: Safe Brake Control

• Safety Outputs

• Safety Inputs

• SOS: Safe Operating Stop

• Joint-SLP, Joint Angle Monitoring

• Joint-SLS, Joint Angular Speed Monitoring

• Joint- SLT, Joint Torque Monitoring

• Collision Detection

• TCP-SLP, TCP Position Monitoring

• TCP Orientation Monitoring

• TCP-SLS, TCP Speed Monitoring

• TCP Force Monitoring

• Momentum Monitoring

• Power Monitoring