1.6.1 Robot limiting parameters

These parameters are the limit values for monitoring the safety functions relating to the robot’s driving in the safety space. If a robot limiting parameter is enabled in a Cartesian space, monitoring will be done at all times, and if the deceleration mode is enabled, monitoring will be done based on Condition0. If a monitoring violation occurs, safety stops (Stop0, Stop1, and Stop2) will be actuated immediately.

You can set parameter values in the [Robot limit] tab of the [Set up > 4: Application parameter > 21: Cobot setup > 1: Cobot Safety Function > 1: Safety condition] menu.

Parameter	Description	Default setting value
TCP speed	The TCP speed limiting value in the robot’s coordinate system (1–5,000 mm/s)	1,500 mm/s
TCP force	The force limiting value applied to the TCP (50–1,000 N)	150 N
Power	The mechanical power limiting value of the robot (80–1,000 W)	350 W
Momentum	The momentum limiting value of the robot (excluding payload) (50–1,000 kg·m/s)	50 kg·m/s
Collision detection	The sensitivity of the collision detection function (0%–200%)	100%
Reduced speed ratio	The reduced speed ratio of the speeds (TCP and joint speeds) set in the deceleration mode (Condition0)	20%

[Caution]

• In configuring a speed limit, you must consider the stop reaction time and put a cover on the target to prevent collisions and injuries.

• Because the speed increases in proportion to kinetic energy and a high payload may increase the robot’s momentum, the collision of the robot with an external object may generate significant impact. In the collaborative operation space, operate the robot while maintaining a safe speed and payload.