I Hardware Installation Manual 2. Safety Functions and Interface
9
The "Force Applied to Tool Endpoint" is the external force which is applied at the center
point of the tool, and estimated by models. It is not the protection value for the force
externally applied by the robot system to the center point of the tool. When the external
force applied to the center point of the tool estimated by the robot system exceeds this
setting value, the event "Exceed Limit of Force Applied to Tool Endpoint" is triggered. At
this time, the robot performs Category 2 Stop and starts deceleration. The robot may still
apply force externally until it comes to a complete stop. Thus, it should be understood that
the force externally applied by the robot during the period from this time to a complete stop
will exceed this setting value. This setting must not be mistakenly used as a basis to
assess the force of collision between human and machine.
2.2 Safe Stop Time
The safe stop time is defined as the period from the moment when the Emergency Stop button is
pressed or any safety-related function is triggered to the moment when the robot comes to a complete
stop. In this system, pressing the Emergency Stop Button is a Category 1 Stop, while triggering built-in
safety-related functions or externally connected safety-related equipment is a Category 2 Stop. In certain
cases, the user or system integrator must include this time in the risk assessment, because the robot
may operate at a certain speed during this period, allowing transfer of energy, which may cause personal
injury or equipment damage, please refer to Appendix A for the actual stopping distance.
Both (A) and (B) are actuated during a Cat.
1 stop by the system; only (A) actuates during a Cat. 2 stop.
(A)
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