11 Safety Function
11.4 Functional Safety Functions
11-63
HW1485509
HW1485509
Signal output as following.
Robot Range Limit as Custom Shape
If Custom is selected in Shape Type, it specifies boundaries within which
the Robot moves or boundaries that prevent Robot from entering with
polygon on the X-Y plane with a height in Z-axis direction.
Monitoring
State
Monitoring Result Output
Disabled ---- OFF
Enabled Object manipulator or tool is inside the safety range. ON
Object manipulator or tool is detected to be outside the
safety range
OFF
For the object manipulator or tool, the stop position to
which coasting value is included are detected to be in
error status when moving close to the border of the
safety.
OFF
Y
X
Point1
Point2
Point3
Point4
Point5
Point6
Z Uppe
Z Lower
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