HW1484764
Functional Overview
2-3
HW1484764
2.1. PFL Function
The PFL (Power and Force Limiting) function stops the manipulator depending on the external force
acting on the manipulator with collaborative operation enabled.
With collaborative operation enabled, the PFL function monitors the external forces acting on the TCP
and each axis of the manipulator. If the external forces exceed the preset limit, it performs a protective
stop and puts the manipulator into the stop position monitoring state, i.e., the condition under which
the manipulator is subject to stop position monitoring by the functional safety functions. The job
execution is interrupted at this time. For information on how to configure the external force limit value,
refer to "3.2 Basic Settings for Collaborative Operation".
For YRC1000, the manipulator moves back a little along the path to reduce the impact
of collision when stopped by the PFL function. At this moment, a significant acceleration
occurs on the TCP, possibly resulting in vibration or noise.
If an external force remains acting in the stop position monitoring state, the manipulator may be
moved by the escape from clamping function described in Section 2.5.
With collaborative operation enabled, the collaborative operation lamp (shown below), located on the
cover between the T- and B-axes of the manipulator, lights up.
In addition, when in the stop position monitoring state, the resume switch (shown below) located below
the collaborative operation lamp lights up.
Pressing the resume switch while it is lit cancels the stop position monitoring and allows you to resume
the operation from the protective stop position.
Collaborative
operation lamp
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