11 Safety Function
11.4 Functional Safety Functions
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HW1485509
HW1485509
11.4.5 Axis Range Limit
Axis Range Limit function is a function which sets each axis range of
motion for the Robot, and base group and monitors whether each axis is
inside the already-fixed range of motion using a software.
This function specifies the upper limit and the lower limit of the range of
motion to those axes and the range inside the limits is defined as the
safety range.
While an axis is in operation, based on the axis motion speed, this
function calculates the coasting value in case of the immediate stop by the
alarm, and then, including this value, it monitors the safety range. With
this monitoring operation, the axes would not exceed the safety range
even if a motion error is detected.
In case an error is detected, the power supply to the motor is stopped
using the machine safety. And the error is notified using an alarm.
Maximum movable range
Minimum value
Maximum value
Safety range
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