Standard RO1 - Safety Settings; Speed Limits

4.2 Safety Settings
Safety Settings can be accessed by tapping the robot menu, then Settings > Safety.
Settings are locked by default; click the “Unlock” button and re-enter the robot PIN to make the settings
here editable.
Safety settings do not take eect until you tap “Apply Settings.”
4.2.1 Speed Limits
How Limits Work
The RO1 has several levels of limits; the robot is always gated to the lowest of all of these:
• Global Limits: dened in Safety settings, which aect tooltip speed and the acceleration, velocity,
and torque of joints.
• Speed Modier % Slider: the robot can be slowed down on an as-needed basis (for instance, to
trial a routine) without requiring access to Safety Settings.
• Step-Level Limits: the robot can also apply an alternate set of speed limits only for the duration
of a specic step.
All of these settings are described below.
Editing Global Limits
The rst tab of safety settings allows setting limits on the speed and acceleration of both the tooltip
and the joints of the robot.
Using Factory Presets By default, you will be presented with the choice of several presets.
The “default” (middle) setting restricts the robot to a tooltip speed of 0.75m/s, which is safe for most
collaborative settings. Several others are available; if there are factors that may require more caution
(such as the robot’s payload or end eectors), it may be desirable to select a more conservative setting.
Remember that many factors can aect whether a given speed is safe. Before putting the robot into pro-
duction, you should always conduct a full safety assessment per ISO 10218-2 to determine the proper
values for these settings and any other mitigations required.
[Presets] (src/images/safety_presets.png)
To review the values set for these factory presets, you can scroll down.
Custom Limits To edit these limits, switch o “Use Factory Preset”; the limits should then become
editable:
29