Safety Function Manual for Collaborative Robot
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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
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On this page
  • Description by figures
  • GUI (Graphical User Interface)
  • Manipulation key notation method
  • Cross-references
  • References

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  1. About this manual

Notation rules

PreviousCopyrightNextSafety precautions

Last updated 3 years ago

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This manual utilizes the following expression rules and safety directions for easy understanding.

Description by figures

Figures are used for a better understanding of how to operate the product and for describing screens. When a description is made by a figure, the pertaining part is marked with the figure number that describes the part, as shown in the following figure:

GUI (Graphical User Interface)

Regarding GUI, any menu name or button name will be in brackets ([ ]) and in bold type. When multiple menus need to be selected in the listed order, the menu names will be separated by the symbol (>).

  • Menu having a title: On the initial screen of the manual or automatic mode, click the [Menu] button.

  • Multiple menus: In the initial screen of the manual mode, select the [Setting] button > [5: Reset > 7: Unit Setting] menu.

Manipulation key notation method

Any key to be pressed in the functional manipulation area of the teach pendant will be in angle brackets (< >) and in bold type.

  • Pressing the <Start> key will initiate the automatic execution of the sequence programmed into the robot.

Cross-references

This provides the shortcut to the related information in the manual. Cross-references will be in quotation marks and in bold type.

  • For details of making changes in date and time information, see “4.5 Date and time setting.” of “Operation Manual for Hi6 Controller”

References

Useful or additional information on using the product will be provided as follows:

The blinking of the icon in the status bar indicates the engineer mode.