7.5.5 Safety Stop Modes Setting
The safety-rated monitoring function can detect limit violations and set the stop mode used when
stopping the robot. For more information about Stop Mode, refer to “2.3 Types of Stop Modes for
Safety.” To set Safety Stop Modes, go to the Robot Workcell and select Robot > Safety Stop Modes.
• Emergency Stop: It sets the Stop Mode when the Emergency Stop button of the Teach Pendent
or the additionally installed external device is activated. (Only STO or SS1 can be selected.)
• Protective Stop: It sets the Stop Mode when the externally connected protective device is
activated.
• Joint Angle Limit Violation: It sets the Stop Mode when the angle of each joint exceeds the joint
angle limit range.
• Joint Speed Limit Violation: It sets the Stop Mode when the angle joint speed of each joint
exceeds the joint speed limit range.
• Collision Detection: It sets the Stop Mode when the external force applied to the axis exceeds
the set limit range. Stop Mode for the Collaborative Zone and Standalone Zone can be set
individually. In addition to STO, SS1 and SS2, RS1 can be set as the Stop Mode.
• TCP/Robot Position Limit Violation: The Stop Mode activated when the tool center point (TCP)
and robot position violates the Space Limit set by Robot of the Workcell Manager can be set. It
also determines whether the TCP is within the Safety Zones (Collaborative Zone, Crushing
Prevention Zone, Collision Sensitivity Reduction Zone, Tool Orientation Limit Zone,
Custom Zone)
• TCP Orientation Limit Violation: It sets the Stop Mode when the direction of the tool center
position (TCP) within the Tool Orientation Limit Zone exceeds the limit angle range set by the
Robot of the Workcell Manager.
• TCP Speed Limit Violation: It sets the Stop Mode when the speed of the tool center point (TCP)
exceeds the speed limit range.
• TCP Force Limit Violation: It sets the Stop Mode when the external force applied to the tool
center point (TCP) exceeds the set limit range. Stop Mode for the Collaborative Zone and
standalone zone can be set individually. In addition to STO, SS1 and SS2, RS1 can be set as the
Stop Mode.
• Momentum Limit Violation: It sets the Stop Mode when the robot momentum exceeds the
momentum limit.
• Mechanical Power Limit Violation: It sets the Stop Mode when the mechanical power of the
robot exceeds the power limit.
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