Safety Function Settings

	Classification	Safety Settings	Description
1	Basic/Universal Settings	World Coordinates Setting	A coordinate system representing the robot and workpiece can be set.
		Robot Limits Setting	The universal safety limit for joints and robot/TCP safety-rated monitoring functions can be set.
		Safety I/O Setting	Configurable digital I/O ports can be set as safety signal I/Os.
		Safety Stop Modes	The Stop Mode can be set when the Emergency Stop or Protective Stop is activated, or when the safety-rated monitoring function detects limit violation.
		Nudge Setting	Parameters related to the nudge function, which is capable of resetting Protective Stop or resuming auto operation of the robot can be set when specific conditional are met.
2	Tool and Robot Pose	Tool Weight Setting	The workpiece payload, which acts as the basis for control and safety functions, can be set.
		Tool Shape Setting	Robot tool shapes, which are used in space limit and self-collision prevention functions, can be set.
		Robot Installation Pose Setting	The robot installation pose can be set.
3	Space Limit	Space Limit Settings	The robot/TCP position limit function can be activated.
4	Zone	Collaborative Zone Settings	It is the zone which can be set for collaborative work between robot and operator. Nudge or hand guiding control (HGC) functions can only be performed in the Collaborative Zone. The task speed and joint speed can be decelerated automatically by setting deceleration rate, and the collision detection sensitivity, TCP force limit, TCP speed limit and Safety Stop Mode are overridden within the Zone. Zones that are not set as the Collaborative Zone are treated as Standalone Zone of the robot.
		Crushing Prevention Zone Settings	The robot work position and space around obstacles can be set to reduce the risk of limbs jamming between robots and obstacles. The robot TCP speed, collision sensitivity and safety stop mode are fixed at 200 mm/s or less, 100% and RS1 respectively, and the TCP force limit is overridden within the Zone. It is treated as the Collaborative Zone.
		Collision Sensitivity Reduction Zone Settings	Just like the case where force must be applied via contact with the workpiece, collision detection and TCP force limit safety functions can be disabled (Muting) or can be used to ease off the limit. Unlike other zones, the collision detection sensitivity and TCP force limit can be set lower and higher than the universal limit respectively in the Collision Sensitivity Reduction Zone. It is treated as a High Priority Zone.
		Tool Orientation Limit Zone Settings	This can be used to reduce risks related to the direction of the workpiece or tool of the robot. If the tool center point (TCP) is positioned within the Zone, the TCP Orientation Limit safety function is activated.
		Custom Zone Settings	Safety limits can be used differently by zones depending on the necessity of robot application. The selected safety limits is overridden within the Zone. Properties of Collaborative Zone or High Priority Zone can be granted.