Safety Function Manual for Collaborative Robot
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  • Safety Function Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety functions of the collaborative robot
    • 1.1 Description of terms
    • 1.2 Collaborative operation mode
      • 1.2.1 Safety-rated monitored stop
      • 1.2.2 Hand guiding
      • 1.2.3 Speed and separation monitoring
      • 1.2.4 Power and force limiting
    • 1.3 Safety functions
      • 1.3.1 Robot limit functions
      • 1.3.2 Joint limit functions
    • 1.4 Matters to be checked upon replacing safety devices
    • 1.5 Matters to be checked before using the safety functions
      • 1.5.1 Encoder offset
      • 1.5.2 Checking the torque sensor
        • 1.5.2.1 Torque sensor offset
      • 1.5.3 Setting of tool data
      • 1.5.4 Password setting
    • 1.6 Robot safety conditions
      • 1.6.1 Robot limiting parameters
      • 1.6.2 Joint limiting parameters
    • 1.7 Safety layout
      • 1.7.1 Safety space setting
        • 1.7.1.1 Setting information on safety space parameters
      • 1.7.2 Safety tool modeling
      • 1.7.3 Safety robot modeling
      • 1.7.4WorkCell 3D
    • 1.8 Safety I/O signals
    • 1.9Safety Stop Function
    • 1.10 Safety condition monitoring
      • 1.10.1 Robot limiting parameter monitoring
      • 1.10.2Joint limiting function monitoring
      • 1.10.3 SCM board status monitoring
      • 1.10.4 Safety I/O status monitoring
      • 1.10.5 Recovery mode
        • 1.10.5.1 Recovery in case of robot position violations
        • 1.10.5.2 Recovery in case of robot speed violations
        • 1.10.5.3 Recovery in case of robot force violations
        • 1.10.5.4 Recovery in cases of safe operating stop (SOS) violations
    • 1.11 Collaborative robot collision detection mode
  • 2. Direct teaching
    • 2.1 Direct teaching switch assignment
    • 2.2 Driving the robot by direct teaching
    • 2.3 Direct teaching mode setting
    • 2.4 Constraint motion
  • 3. I/O setting
    • 3.1 I/O map
    • 3.2 Tool I/O
      • 3.2.1 Default specifications of the tool I/O
      • 3.2.2 Tool I/O setting
    • 3.3 Analog I/O
      • 3.3.1 Default specifications of the analog I/O
      • 3.3.2 Analog I/O setting
  • 4. Error messages
    • E7001~E7066
    • E7101~E7120
    • E7170~E7213
    • E7250~E7348
    • E7403~E7711
    • E7731~E7905
  • Attachment
    • The Rules on the Criteria for Occupational Safety and Health, and the Public Notice of Safety Inspec
  • Warranty
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  1. 1. Safety functions of the collaborative robot
  2. 1.5 Matters to be checked before using the safety functions

1.5.2 Checking the torque sensor

Previous1.5.1 Encoder offsetNext1.5.2.1 Torque sensor offset

Last updated 3 years ago

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You must set torque sensor offsets because the diagnosis of force/power, among the safety functions of the collaborative robot, is conducted based on the torque sensors attached to the axes. Although torque sensor offsets were set before the robot is delivered, you should set the torque sensor offsets if the current offset values are not correct.

1. After recording and modifying the step positions, run the program, and move the robot axes to a position that does not allow them to be affected by gravity (0, 90 -90, 90, 0, 0 [deg]).

  • The position unaffected by gravity varies depending on installation angles.

    The position unaffected by gravity is (0, 90, -90, 90, 0, 0 [deg]) if the robot is installed flat on the ground. Modify the angle of axis 1 if the installation angle is sloped so that the lower frame matches the direction of the slope.

2. In the [Joint limit] tab of [Set up > 4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 1: Safety condition] menu, check the current value of the joint torque limit.

3. Close the menu if the current torque sensor data value is smaller than 1 in the absolute value. Otherwise, carry out torque sensor offset if it is larger than 1.

In recovery mode, move each axis with the jog if a stop occurs because of a safety function violation. For more details on recovery mode, see “”

For more details on step position recording and modification, see “” of the “”

1.10.5 Recovery mode.
2.3.2 Step position recording and modification
Operation Manual for Hi6 Controllers.
Figure 1 Robot position when installed flat on the ground (0, 90, -90, 90, 0, 0 [deg])
Figure 2 Robot position when it is wall-mounted (90, 90, -90, 90, 0, 0 [deg])