1.4 Matters to be checked upon replacing safety devices

When the robot, controller, working tool, or an external device used for operating the collaborative robot is replaced, you should check the current settings and modify them as necessary. The safety functions that must be checked upon the replacement of a device include the following:

Device	Matters to be checked	Reference
Device	Matters to be checked	Reference
All the axial modules of the robot (motors, encoders, and torque sensors)	Reconfiguration of encoder options Reconfiguration of torque sensor offsets	1.5.1 Encoder offset 1.5.2 Checking the torque sensor
Main controller (microcomputer)	System resetting Reconfiguration of all safety-related functions	User manual
Working tools	Checking of tool data Checking of safety tool modeling Checking of axial load weights Checking of tool I/O setting	1.5.3 Setting of tool data 1.7.2 Safety tool modeling User manual 3.2 Tool I/O
External input devices	Checking of safety I/O setting	1.8 Safety I/O signals

[Caution]: Check if the settings are correct before running the robot.