HW1484764
Configuring Each Function
3-12
HW1484764
3.4. Enabling or Disabling the PFL function
To enable or disable the PFL function, use the steps described below.
For information on how to disable collaborative operation only, refer to "3.3 Enabling or Disabling
Collaborative Operation".
Disabling the PFL function not only disables collaborative operation but also suspends the monitoring
by the external force monitoring function and prevents the alarms related to the PFL function from
occurring.
Use the following steps only when you want to temporarily disable the PFL function, for example, to
recover from a major alarm related to the PFL function.
・ With collaborative operation disabled, the manipulator may harm workers. Implement sufficient
risk assessment and reduce risk to a permissible level before disabling collaborative operation.
3.4.1. Steps for Disabling the PFL Function
(1) Restart the controller in the maintenance mode.
(2) Select {SYSTEM} - {SECURITY} under the main menu.
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