Limits on Robot Safety Setting Function

Setting functions related to robot motion (TOOL, TCP, etc.) and safety (safety area, safety stop, safety I/O, etc.) are not provided by this API. They should be set directly in the T/P application. As the initialization process is limited to being executed only in the T/P application during the booting of the robot controller, the robot safety setting must be made in the T/P application.

As an exception, the setting of TOOL or TCP, which are used in motion control commands, is provided as an API function, but this is not interworked with the T/P application. This requires reregistration for use during the rebooting of the robot controller or reoperation of the program. Therefore, using it after setting in the T/P application is recommended.

With respect to this, robot setting is possible only in the following robot pause states: STATE_INITIALIZING, STATE_STANDBY, STATE_SAFE_OFF, and STATE_EMERGENCY. If setting is tried in a state other than these, errors occur and robot motion stops. And a subsequent log and alarm message are generated in the callback function (TOnLogAlarmCB).