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

1.9Safety Stop Function

Previous1.8 Safety I/O signalsNext1.10 Safety condition monitoring

Last updated 3 years ago

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Set an adequate safety stop type for each safety stop function. The safety stop functions, which stop the robot under a safe condition in case of a safety violation, include the following three types. All types of safety stop functions meet the requirements of Clause 4.2.2.4 of IEC 61800-5-2.

  • Stop0: The power of the motors of all the joint modules will disconnect immediately, and the motors will stop.

  • Stop1: The power of the motors of all the joint modules will decelerate, and the motors will stop. Then, the power of the motors will be disconnected.

  • Stop2: The motors of all the joint modules will decelerate, and the safe operating stop (SOS) function will take effect. The power supply status of all the motors will be retained.

The method for setting the safety stop types of the safety functions is as follows:

1. Select the [Configure] button > [4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 4: Safety Stop Function] menu.

2. Click the drop-down menu, set the stop type, and click the [Apply] button.

No.

Safety function

Stop function

1

SOS

Default setting value: Stop0 (fixed value)

2

TCP position violation (safety space violation)

Default setting value: Stop0

3

Joint position violation

Default setting value: Stop0

4

TCP speed violation

Default setting value: Stop0

5

Joint speed violation

Default setting value: Stop0

6

Joint torque violation

Default setting value: Stop0

7

TCP force violation

Default setting value: Stop0

8

TCP orientation violation

Default setting value: Stop0

9

Power violation

Default setting value: Stop0

10

Momentum violation

Default setting value: Stop0

11

Collision detection

Default setting value: Stop0

12

Emergency stop

Default setting value: Stop0

13

External emergency stop

Default setting value: Stop0

14

Safeguard stop

Default setting value: Stop1 (fixed value)

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

[Caution]: You should set an adequate stopping method for each function based on the result of the risk assessment.