10.2 Changing the Safety Configuration
The safety settings consist of a number of limit values used to constrain the movements of the
robot arm, and of safety function settings for the configurable inputs and outputs. They are
defined in the following subtabs of the safety screen:
• The General Limits subtab defines the maximum force, power, speed and momentum of
the robot arm. When the risk of hitting a human or colliding with a part of its environment
is particularly high, these settings need to be set to low values. If the risk is low, higher
general limits enable the robot to move faster and exert more force on its environment. For
further details, see 10.10.
• The Joint Limits subtab consists of joint speed and joint position limits. The joint speed
limits define the maximum angular velocity of individual joints and serve to further limit
the speed of the robot arm. The joint position limits define the allowed position range of
individual joints (in joint space). For further details, see 10.11.
• The Boundaries subtab defines safety planes (in Cartesian space) and a tool orientation
boundary for the robot TCP. The safety planes can be configured either as hard limits for
the position of the robot TCP, or triggers for activating the Reduced mode safety limits
(see 10.6)). The tool orientation boundary puts a hard limit on the orientation of the robot
TCP. For further details, see 10.12.
• The Safety I/O subtab defines safety functions for configurable inputs and outputs
(see 13.2). For example, Emergency Stop can be configured as an input. For further details,
see 10.13.
10.2 Changing the Safety Configuration
The safety configuration settings shall only be changed in compliance with the risk assessment
conducted by the integrator.
The recommended procedure for changing the safety configuration is as follows:
e-Series II-4 Version 3.11
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