2. Introduction to the Hardware PreciseFlex 100 Robot
Machine Safety Part Number: 603988 Rev. A
DataID
Parameter
Name
Description
16900 to 16909
Safety Zone: type,
x/y/z/y/p/r, dim 1/2/3
Each safety zone definition consists of an array of 10 values.
The first value is the safety zone “type”. The next six values
define the position of the origin of the volume of interest and its
orientation. This is specified as a standard Location value:
x, y, z, yaw, pitch, roll.
The final three values define the size of the volume of interest.
For the permitted shapes, this is interpreted as:
volume:Dx, Dy, Dz
Cylinder:Dh, Dr, 0
Sphere:Dr, 0, 0
For example, for a downward Z non-rotated rectangular volume
speed restrict safety zone, a single DataID should be specified
as follows:
7, x, y, z, 0, 0, 0, Dx, Dy, Dz
Where x, y, z are the coordinates of the center of the base of the
rectangular volume and Dx, Dy, Dz are the dimensions of the
volume, all in mm.
Table 2-3: Data IDs
In addition, the DataID in Table 2-4 must be initialized to establish the maximum speed limits for the
certified safety zones:
DataID
Parameter
Name
Description
2740
Certified safety zone,
max Z/XY spd mm/sec
These parameters define the maximum speeds that are
permitted for the Certified Speed Restrict Safety Zones. The
first value is the maximum downward Z speed (when within
the safety zone) in mm/sec. Since this is a downward speed,
it should be a negative value and defaults to -200. The
second value is the maximum permitted speed in the
horizontal XY plane (when within the safety zone), and
defaults to 200 mm/sec.
Table 2-4: Data IDs
32
Copyright © 2023 Brooks Automation, Inc.
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