11 Safety Function
11.4 Functional Safety Functions
11-92
HW1485509
HW1485509
Fig. 11-11: Force / Torque Watch
YASKAWA recommends maintaining a log of acceptable torque values for
a MOTOMAN-HCxx or MOTOMAN-HCxxDT installation. Any time the
user makes and verifies a change to the system (e.g. swap a tool), the
{Joint Data} values on the Force/Torque Watch window should be
recorded with the manipulator at a position convenient for the user. The
user can compare this recorded data to the “Current” values during an
inspection.
This comparison between allowable and current torque values is valid
only
if the following four conditions are satisfied:
1. Tool number on the screen matches the currently installed tool
2. Accurate physical properties of the current tool are properly set
3. Posture of the manipulator during inspection matches the posture
when the “acceptable torque values” were initially recorded.
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