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. 2. Direct teaching

2.2 Driving the robot by direct teaching

Previous2.1 Direct teaching switch assignmentNext2.3 Direct teaching mode setting

Last updated 3 years ago

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1. Set the operating mode to the manual mode.

2. Press the <Motor> key on the teach pendant to supply servo power to the motor. The motor lamp will blink.

3. Press a direct teaching switch (1, 2, 3, or 5). The motor’s break will be released, and the direct teaching function will turn on. In the status display line of the operating program window, the operating method will be displayed as “Direct teaching.”

4. While the direct teaching switch (1, 2, 3, or 5) is pressed, hold and move the robot to teach it the desired position.

  • To move all the axes of the robot freely, press a direct teaching switch (1 or 2).

  • To move all the axes of the robot in assigned directions only, press a direct teaching switch (3 or 5).

  • To record the position of the robot, press a direct teaching switch (4).

[Caution]

  • Use the direct teaching functions in a safe environment only. If the tool or a nearby structure has a sharp part or a part that can cause entanglement, do not use the direct teaching functions.

  • Before using the direct teaching functions, make sure to set the information on the tool, including the length, weight, and center of gravity. In addition, make sure to check the robot’s installation angle and direction of gravity.

  • Set the enabling or disabling of the direct teaching functions only when the robot is at a complete stop. Changing the status of a direct teaching function while the robot is moving may cause the robot to malfunction.