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

1.5.3 Setting of tool data

Previous1.5.2.1 Torque sensor offsetNext1.5.4 Password setting

Last updated 3 years ago

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The safety functions of the collaborative robot monitor the entire robot system including the tool attached to the robot’s tool flange. Therefore, the smaller the difference between the tool data and its actual value, the more accurately the safety functions will work. Set the length and angle of the tool based on the flange coordinate system and input the information on the weight, center of gravity, and inertia of the tool in the applicable units.

  1. Set the operating mode to the manual mode.

  2. Disconnect the power of the motor by pressing the emergency stop button.

  3. Select the [Configure] > [3: Robot parameter > 1: Tool data] menu.

  4. Check the data of each axis, set the weight, center of gravity, and inertia of the tool, and save the values by clicking the [OK] button.

  • To easily create new tool data from scratch utilizing the current program, click the [Auto calibration] button.

  • To correct the tool angle, click the [Angle calibration] button.

  • To add a new user coordinate system or delete one, use the [+] or [-] buttons, respectively.

  • To view and edit the detailed information of tool data, select a tool data name to be viewed and edited.

  • To copy the information on tool data and paste it to that of another, use the [Copy page] and [Paste page] buttons, respectively.

When there is no information on the weight and center of gravity of a tool, you can estimate the values using the load estimation function. For more details, see “”

For more details on tool data setting, see “”

Operation Manual for Hi6 Controllers.
Operation Manual for Hi6 Controllers.