Upper/Lower Threshold Range and Default Value of Safety Parameters
M1509
Parameters | Normal | Reduced | Tolerance | |||||
Min | Max | Default | Min | Max | Default | |||
Joint Angle Limits | J1 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 |
J2 (degree) | -360 | 360 | -95~95 | -360 | 360 | -95~95 | 3/-3 | |
J3 (degree) | -150 | 150 | -135~135 | -150 | 150 | -135~135 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
J5 (degree) | -360 | 360 | -135~135 | -360 | 360 | -135~135 | 3/-3 | |
J6 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
Joint Speed Limits | J1 (degree/s) | 0 | 150 | 150 | 0 | 150 | 150 | 10 |
J2 (degree/s) | 0 | 150 | 150 | 0 | 150 | 150 | 10 | |
J3 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J4 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J5 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J6 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 800 | 162 | 0 | 800 | 81 | - |
Power (W) | 0 | 1600 | 650 | 0 | 1600 | 120 | - | |
Speed (mm/s) | 0 | 7000 | 2000 | 0 | 7000 | 1000 | - | |
Momentum (kgm/s) | 0 | 135 | 68 | 0 | 135 | 40 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |
M1013
Parameters | Normal | Reduced | Tolerance | |||||
Min | Max | Default | Min | Max | Default | |||
Joint Angle Limits | J1 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 |
J2 (degree) | -360 | 360 | -95~95 | -360 | 360 | -95~95 | 3/-3 | |
J3 (degree) | -160 | 160 | -135~135 | -160 | 160 | -135~135 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
J5 (degree) | -360 | 360 | -135~135 | -360 | 360 | -135~135 | 3/-3 | |
J6 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
Joint Speed Limits | J1 (degree/s) | 0 | 120 | 120 | 0 | 120 | 120 | 10 |
J2 (degree/s) | 0 | 120 | 120 | 0 | 120 | 120 | 10 | |
J3 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J4 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J5 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J6 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 550 | 144 | 0 | 550 | 72 | - |
Power (W) | 0 | 1600 | 600 | 0 | 1600 | 100 | - | |
Speed (mm/s) | 0 | 8000 | 2000 | 0 | 8000 | 1500 | - | |
Momentum (kgm/s) | 0 | 165 | 82 | 0 | 165 | 50 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |
M0617
Parameters | Normal | Reduced | Tolerance | |||||
Min | Max | Default | Min | Max | Default | |||
Joint Angle Limits | J1 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 |
J2 (degree) | -360 | 360 | -95~95 | -360 | 360 | -95~95 | 3/-3 | |
J3 (degree) | -165 | 165 | -145~145 | -165 | 165 | -145~145 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
J5 (degree) | -360 | 360 | -135~135 | -360 | 360 | -135~135 | 3/-3 | |
J6 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
Joint Speed Limits | J1 (degree/s) | 0 | 100 | 100 | 0 | 100 | 100 | 10 |
J2 (degree/s) | 0 | 100 | 100 | 0 | 100 | 100 | 10 | |
J3 (degree/s) | 0 | 150 | 150 | 0 | 150 | 150 | 10 | |
J4 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J5 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J6 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 500 | 108 | 0 | 500 | 54 | - |
Power (W) | 0 | 1600 | 600 | 0 | 1600 | 100 | - | |
Speed (mm/s) | 0 | 8000 | 2000 | 0 | 8000 | 1500 | - | |
Momentum (kgm/s) | 0 | 180 | 90 | 0 | 180 | 55 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |
M0609
Parameters | Normal | Reduced | Tolerance | |||||
Min | Max | Default | Min | Max | Default | |||
Joint Angle Limits | J1 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 |
J2 (degree) | -360 | 360 | -95~95 | -360 | 360 | -95~95 | 3/-3 | |
J3 (degree) | -150 | 150 | -135~135 | -150 | 150 | -135~135 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
J5 (degree) | -360 | 360 | -135~135 | -360 | 360 | -135~135 | 3/-3 | |
J6 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
Joint Speed Limits | J1 (degree/s) | 0 | 150 | 150 | 0 | 150 | 150 | 10 |
J2 (degree/s) | 0 | 150 | 150 | 0 | 150 | 150 | 10 | |
J3 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J4 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J5 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
J6 (degree/s) | 0 | 225 | 225 | 0 | 225 | 225 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 400 | 96 | 0 | 400 | 48 | - |
Power (W) | 0 | 1600 | 300 | 0 | 1600 | 80 | - | |
Speed (mm/s) | 0 | 7000 | 2000 | 0 | 7000 | 1000 | - | |
Momentum (kgm/s) | 0 | 75 | 38 | 0 | 75 | 23 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |
H2515
Parameters | Normal | Reduced | Tolerance | |||||
Min | Max | Default | Min | Max | Default | |||
Joint Angle Limits | J1 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 |
J2 (degree) | -125 | 125 | -95~95 | -125 | 125 | -95~95 | 3/-3 | |
J3 (degree) | -160 | 160 | -145~145 | -160 | 160 | -145~145 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
J5 (degree) | -360 | 360 | -135~135 | -360 | 360 | -135~135 | 3/-3 | |
J6 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
Joint Speed Limits | J1 (degree/s) | 0 | 100 | 100 | 0 | 100 | 100 | 10 |
J2 (degree/s) | 0 | 80 | 80 | 0 | 80 | 80 | 10 | |
J3 (degree/s) | 0 | 100 | 100 | 0 | 100 | 100 | 10 | |
J4 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J5 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J6 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 1200 | 243 | 0 | 1200 | 122 | - |
Power (W) | 0 | 1600 | 800 | 0 | 1600 | 650 | - | |
Speed (mm/s) | 0 | 2500 | 2000 | 0 | 2500 | 1500 | - | |
Momentum (kgm/s) | 0 | 400 | 200 | 0 | 400 | 122 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |
H2017
Parameters | Normal | Reduced | Tolerance | |||||
Min | Max | Default | Min | Max | Default | |||
Joint Angle Limits | J1 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 |
J2 (degree) | -125 | 125 | -95~95 | -125 | 125 | -95~95 | 3/-3 | |
J3 (degree) | -160 | 160 | -145~145 | -160 | 160 | -145~145 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
J5 (degree) | -360 | 360 | -135~135 | -360 | 360 | -135~135 | 3/-3 | |
J6 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
Joint Speed Limits | J1 (degree/s) | 0 | 80 | 80 | 0 | 80 | 80 | 10 |
J2 (degree/s) | 0 | 80 | 80 | 0 | 80 | 80 | 10 | |
J3 (degree/s) | 0 | 80 | 80 | 0 | 80 | 80 | 10 | |
J4 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J5 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J6 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 1200 | 243 | 0 | 1200 | 122 | - |
Power (W) | 0 | 1600 | 800 | 0 | 1600 | 650 | - | |
Speed (mm/s) | 0 | 2500 | 2000 | 0 | 2500 | 1500 | - | |
Momentum (kgm/s) | 0 | 400 | 200 | 0 | 400 | 122 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |