TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 46
DANGER:
When the motion of TM Robot is passing the area near singular space, due to the nature of
singularity, the TCP force may be estimated incorrectly. Users can set the robot's motion
properly, e.g. do not set the motion too close to the singularity point in space, to avoid this
situation. This is a residual risk and users should apply risk assessment for the detection of
SF14 TCP force near the singularity case. SF14 TCP force should not be solely applied as the
only safety protection measure in human-robot collision case. It’s always recommended to
include SF10 Joint Torque Monitoring in the human-robot collision safety protection measure.
WARNING:
Cartesian Limit is designed when robot's monitored point exceed the set limit, the robot
performs a protective stop. It does not mean the monitored point will not exceed the limit, due
to stopping time and stopping distance. Take stopping time and stopping distance into
consideration when use this safety function when setting the restricted space and safeguarded
space in system integration.
DANGER:
1. Cartesian Limit cannot be used sorely as a safety measure for preventing collision
between human and robot. When this safety function is used, other means should be
provide to prevent human or the limb enters the limited space, or detect the entering of
the limited space with a protective measure.
2. Pay attention that the "TCP Force” (Tool Center Point Force) is the external force at the
tool center point estimated through the model by the robot system, not the protection
value of the external force at the tool center point on the robot system. When the robot
system exceeds the external force value at the tool center point, the robot will perform a
category 2 stop. In this condition, applied forces will exceed this value. Therefore, clearly
understand the amount of the external force applied before the robot comes to a
complete stop. The extent this value will be exceeded will increase as the robot speed
increases. This cannot be the primary risk mitigation for human-robot collision.
3.4 Payload and Gravity Offset Consideration
The following graph depicts the relationship between TM12 robot arm payload and the center of gravity offset. As
shown in the graph below, the maximum payload weight decreases as the distance of gravity offset increases. For
instance, TM12 robot arm can safely pick up or put down a heavy workpiece up to 12Kg within 100mm of gravity
offset distance. If the distance is extended to 600mm, it is safer that TM12 robot arm picks up or puts down a
workpiece at approximately 4Kg.
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