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
  3. 1.5.2 Checking the torque sensor

1.5.2.1 Torque sensor offset

Previous1.5.2 Checking the torque sensorNext1.5.3 Setting of tool data

Last updated 3 years ago

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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.

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 “”

2. Click the [Favorites] button on the bottom right part of the Hi6 teach pendant window, enter “314” in the input box of the favorites window, and click the [OK] button.

[Caution]

  • Be careful as a wrong setting in Engineer Mode may lead to a severe problem in the robot system.

3. Click the [Set up] button > [3: Robot parameter > 8: Torque sensor offset] menu.

4. Check the position of each axis, click the [Reset one] or [Reset all] button, and observe whether the torque sensor offset value has been changed.

  • To set the torque sensor offset of an axis, click the [Reset one] button.

  • To set the torque sensor offsets of all the axes, click the [Reset all] button.

5. Check if the corrected torque sensor data value is close to 0, and save it by clicking the [OK] button.

6. Reboot the system.

In Engineer Mode, the engineer mode icon () will blink on the status bar.

1.10.5 Recovery mode.
2.3.2 Step position recording and modification
Operation Manual for Hi6 Controllers.