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. 1.7 Safety layout

1.7.1 Safety space setting

Previous1.7 Safety layoutNext1.7.1.1 Setting information on safety space parameters

Last updated 3 years ago

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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.

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

  • [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.

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 “”

[Tool]: This sets the parameter values of the tool used for safety space monitoring. For more details, see “”

[Robot]: This sets the parameter values of the robot model used for safety space monitoring. For more details, see “”

1.7.1.1 Setting information on safety space parameters.
1.7.2 Safety tool modeling.
1.7.3 Safety robot modeling.
Figure 6 Safety space: Working space
Figure 7 Safety space: Protected space