11 Safety Function
11.2 Common Operation
11-5
HW1485509
HW1485509
11.2.4 Tool Interference Configuration
Specific safety functions read and use tool interference. The following
table lists the safety functions and indicates which functions require tool
interference before using the safety functions.
The tool interference setting must be properly specified for the precise
monitoring of the safety function. To perform the tool interference setting,
use the Software Pendant. Refer to chapter 12 “Software Pendant” for the
use of the Software Pendant, and “YRC1000 OPTIONS INSTRUCTION
FOR FUNCTIONAL SAFETY FUNCTION (HW1483576) chapter 6.4 “Tool
Interference File Setting” for setting the tool interference.
Table 11-2: Tool Interference Configuration for Safety Functions
Safety Functions Tool Interference Requirement
Robot Range Limit
Axis Range Limit X
Speed Limit X
Axis Speed Monitor X
Tool Angle Monitor X
Tool Change Monitor
External Force Monitor X
: tool interference setting required,
X: tool interference setting not required
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