HW1484764
Functional Overview
2-4
HW1484764
2.2. Speed Monitor Function
With collaborative operation enabled, the "speed limit function", one of the YRC1000/YRC1000micro
functional safety functions, limits the manipulator operating speed within the safe speed range. You
can change the speed limit but only to a speed lower than the factory default. For information on how
to configure the speed limit, refer to "3.2 Basic Settings for Collaborative Operation".
2.3. Avoidance Function
The avoidance function ensures the safe use of the manipulator by temporarily stopping or moving the
manipulator in the direction where no force is acting before the PFL function performs a protective stop
of the manipulator.
The avoidance function provides two avoidance modes that differ in how the manipulator moves.
The avoidance operation is performed depending on the external
torque acting on each axis.
The avoidance operation is performed in the cartesian coordinate
system depending on the external force acting on the TCP.
When the avoidance function is enabled and the estimated external torque value for each axis
exceeds the start threshold for the avoidance function for the current mode, the mode-specific
interrupt job is executed.
The avoidance operation started when the estimated torque value for each axis exceeds the threshold
continues until the estimated external torque value for each axis drops below the end threshold for the
avoidance function (for each axis). The avoidance operation started when the estimated TCP external
force value exceeds the threshold continues until the estimated TCP external force value drops below
the end threshold for the avoidance function (for translation).
After the avoidance function ends, the suspended job is automatically resumed.
By factory default, the TCP speed is limited to 250 mm/s.
The avoidance function is not functions compliant with safety related standards.
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