1.10.1 Robot limiting parameter monitoring
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Select the [Robot limit] tab of [Configure > 4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 5: Cobot Safety Status] to view the statuses of the robot limiting functions.
[Status]: You can view the safety conditions.
You can monitor the statuses of the safety functions of the collaborative robot. In a normal condition, Normal will be displayed. If an error or violation of a safety function occurs, the pertaining error code will be displayed.
You can view the statuses of the robot limiting functions.
[TCP position]: This indicates the statuses of the Cartesian spaces (nos. 1–12) and whether a TCP position violation has occurred during the monitoring.
[TCP speed]: This indicates whether a TCP speed violation has occurred during the monitoring.
[TCP force]: This indicates whether a TCP force violation has occurred during the monitoring.
[TCP orientation]: This indicates whether a TCP orientation violation has occurred during the monitoring.
[Power]: This indicates whether a power violation has occurred during the monitoring.
[Momentum]: This indicates whether a momentum violation has occurred during the monitoring.
[Collision]: This indicates whether a collision has been detected during the monitoring.
[SOS] (Safe operating stop monitoring): This indicates whether an SOS violation has occurred during the monitoring.
