HW1484764
Functional Overview
2-8
HW1484764
2.6. Relationships among Various Stop Functions
With collaborative operation enabled, various functions work when the external forces acting on the
TCP and each axis of the manipulator exceed the preset thresholds.
You can change these thresholds but the threshold for the force detection hold function must be
always larger than the start threshold for the avoidance operation.
The force detection hold function takes precedence over the avoidance operation and the PFL function
takes precedence over the force detection hold function. As shown below, if the external force is
between the threshold for starting the avoidance operation and the force detection hold threshold, the
avoidance function works; if the external force is between the force detection hold threshold and the
external force limit, the force detection hold function works; if the external force is above the external
force limit, the PFL function works.
If the external force sustains with the PFL function working, the escape from clamping function works.
You cannot change the operation of the escape from clamping function because it is automatically
configured depending on the external force limit of the PFL function. In addition, the avoidance and
force detection hold functions are not functions compliant with safety related standards.
Note: Force detection hold function is supported only by YRC1000.
To Next Page
Loading...
