Safety Function Manual for Collaborative Robot
English
English
  • 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
Powered by GitBook
On this page

Was this helpful?

  1. 1. Safety functions of the collaborative robot
  2. 1.6 Robot safety conditions

1.6.2 Joint limiting parameters

Previous1.6.1 Robot limiting parametersNext1.7 Safety layout

Last updated 3 years ago

Was this helpful?

These parameters are the limit values for monitoring the safety functions relating to the space in which the robot’s joints move. If a joint 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 the parameter values in the [Joint 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

Joint angle limit

The angle limit value of a joint

(-360.0°–360.0°)

It is identical to a robot soft limit.

Joint speed limit

The angular speed limit value of a joint

(1.0°–500.0°)

It is identical to the highest speed of the axis.

Joint torque limit

The torque limit value of a joint

(-500.0–500.0 Nm)

It is identical to the highest torque of the axis.

[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.

Figure 4 An example of joint limiting setting (S-axis)
Figure 5 Window for setting joint limiting parameters