1.7.1 Safety space setting

The safety space is a working space or a protected space in which the range of the tool or the robot elbow is monitored. The working space is a limited space where the monitoring target can move freely but cannot exceed. In contrast, the protected space is a limited space in which the monitoring target cannot move when it intrudes into the space. If the safety space is a working space, you can enable it by assigning a safety condition number. In the working space, if the monitoring target moves and exceeds the limit value of a safety condition, a functional safety stop will be actuated.

Figure 6 Safety space: Working space

Figure 7 Safety space: Protected space

A safety space should be configured by setting the position and length of the zero point based on the robot coordinate system, including a stopping distance. You can add up to 12 spaces, each of a cuboid shape. The safety space is enabled by setting parameters or safety I/O signals.

The method for setting safety spaces is as follows:

1. Click the [Configure] button > [4: Application parameter > 21: Cobot setup > 1: Cobot Safety Function > 2: Safety layout] menu.

2. Select the type of safety space, set the parameter values, and save them by clicking the [Apply] button.

No.	Description
	These are the details of the safety space. You can view and set the space name and the parameter values. For more details on the setting, see “1.7.1.1 Setting information on safety space parameters.”
	[Tool]: This sets the parameter values of the tool used for safety space monitoring. For more details, see “1.7.2 Safety tool modeling.” [Robot]: This sets the parameter values of the robot model used for safety space monitoring. For more details, see “1.7.3 Safety robot modeling.”
	[Apply]: This saves changes. [+]/[-]: “+” adds a new safety space, and “-” deletes an existing safety space. You can add up to 12 safety spaces. This is the list of safety spaces. If you select a space name, you can view and modify its details. [Copy page]/[Paste page]: “Copy page” copies the information on a safety space, and “Paste page” pastes it to another. In the list of safety spaces, select the name of an space, click the [Copy page] button, select the name of another space to which the values will be applied, and click the [Paste page] button.

3. After checking the parameter values, finish the setting by clicking the [X] button or by clicking the [esc] key of the teach pendant.