11 Safety Function
11.4 Functional Safety Functions
11-90
HW1485509
HW1485509
Enable Condition
Set Enable Condition of the setting.
In order for the change to take effect, it is necessary to complete WRITE.
TCP Force Limit
Use this to specify the maximum value of the forces on the TCP of the
manipulator in world coordinate frame. When external force exceeds
these values, this safety monitor will get activated and will stop the
manipulator. These forces must be specified in Newtons [N]. The value
specified in {Resultant} must be greater than the maximum of X, Y, and Z
values. Most applications may need the Resultant force equivalent to X,
Y, Z forces. This value is specified as a force and in Newtons [N]
(Allowable range: 0 – 300 [N], though a value below 50N should not be
specified).
Specify Enable/Disable for a target axis.
Joint Torque Limit
Use this to specify the maximum value of external torques for each joint
axis of the Robot. When external torque for any of the axes that has been
set exceeds the defined value, this safety monitor will get activated and
will stop the Robot. This value is specified as a moment and in Newton-
Meters [N
•m]. (The allowable range varies depending on the type of the
manipulator.)
Setting Activation Signal
Specify the safety input signal for enable the setting when “Enable
Condition” is “Signal”.
For the details of the safety signal usage, refer to chapter 11.4.
Output Signal
Use this to specify an output signal that will turn ON when external force
applied to the Robot exceeds the value of external force monitor.
11.4.10.2 Confirming and Starting the External Force Monitor
After the {WRITE}, External Force Monitor requires to confirm. After
confirming, press {CONFIRM}, the axis speed monitor function will be
enabled.
Value Description
Always OFF Always disable the monitoring by the setting.
Always ON Always enable the monitoring by the setting.
Signal Change the monitoring state by referring safety input
signal.
For the details of the safety signal usage, refer to
chapter 11.4 “Functional Safety Functions”.
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