7.5.10 Nudge Setting
If the robot is stopped by Safety Stop Mode SS2 or RS1 within a Collaborative Zone, the Interrupted
state can be reset and task can be resumed with Nudge input. Nudge option can be enabled on user
defined sections.
To set Nudge, select the Nudge item from the Robot Workcell. With nudge input, the force to be
recognized (nudge force) and the standby time from nudge recognition and until the resuming the work
(delay time) can be entered additionally.
The configurable range of Input force for Nudge is 10.00 ~ 50.00N.
Warning
Nudge must only be used only if approved through comprehensive risk assessment.
A-Series, which does not feature a Joint Toque Sensor, does not have Nudge settings in
Advanced options.
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