1.10.2Joint limiting function monitoring

Select the [Joint limit] tab of [Configure > 4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 5: Cobot Safety Status] to view the statuses of the joint limiting functions.

Figure 14 Safety conditions of the collaborative robot: Joint limiting

• [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 joint limiting functions.

  • [Position]: This indicates whether an axial joint position violation has occurred during the monitoring.

  • [Speed]: This indicates whether an axial joint speed violation has occurred during the monitoring.

  • [Torque]: This indicates whether an axial joint torque violation has occurred during the monitoring.