Safety Stop Modes
The safety-rated monitoring function can detect limit violations and set the Stop Mode used when stopping the robot.
- For more information about Stop Mode, refer to Safety-rated Stop Subfunction.
To set the Safety Stop Modes, select Workcell Manager > Robot > Safety Stop Modes. For more information about each item, refer to Safety-rated Monitoring Function.
| Safety Stop Mode | Description | |
|---|---|---|
| 1 | Emergency Stop | It sets the Stop Mode when the Emergency Stop button of the teach pendent or the additionally installed external device is activated. (Only STO or SS1 can be selected.) |
| 2 | Protective Stop | It sets the Stop Mode when the externally connected protective equipment is activated. |
| 3 | Joint Angle Limit Violation | It sets the Stop Mode when the angle of each joint exceeds the set limit range. |
| 4 | Joint Speed Limit Violation | It sets the Stop Mode when the angle joint speed of each joint exceeds the set limit range. |
| 5 | Collision Detection | It sets the Stop Mode when the external force applied to the axis exceeds the set limit range. Stop modes for Collaborative Zone and Standalone Zone can be set individually.In addition to STO, SS1 and SS2 , RS1 can be set as the stop mode. |
| 6 | TCP/Robot Position Limit Violation | It sets the Stop Mode activated when the tool center point (TCP) and robot position violate the Position Limit of the Robot set in the Workcell Manager. It also determines whether the TCP is within the Safety Zone (Collaborative Zone, Crushing Prevention Zone, Collision Sensitivity Reduction Zone, Tool Orientation Limit Zone, or Custom Zone). |
| 7 | TCP Orientation LimitViolation | It sets the Stop Mode when the tool center point (TCP) orientation within the TCP Orientation Limit Zone exceeds the angle limit range set by the Robot through the Workcell Manager. |
| 8 | TCP Speed Limit Violation | It sets the Stop Mode when the speed of the tool center point (TCP) exceeds the set limit range. |
| 9 | TCP Force Limit Violation | It sets the Stop Mode when the external force applied to the tool center point (TCP) exceeds the set limit range. Stop modes for Collaborative Zone and Standalone Zone can be set individually. In addition to STO, SS1 and SS2 , RS1 can be set as the Stop Mode. |
| 10 | Momentum Limit Violation | It sets the Stop Mode when the robot momentum exceeds the set limit. |
| 11 | Mechanical Power Limit Violation | It sets the Stop Mode when the mechanical power of the robot exceeds the set limit. |