Robot Limits

In Robot Limits, universal safety limits of various safety functions related with robots can be set as Normal Mode and Reduced Mode.

If each robot parameter exceeds the configured safety limit, the robot activates Protective Stop. Robot limits can be set in Robot Parameter> Safety Settings > Robot Limits.

Note

Robot can be operated after removing the cause of Protective Stop and after deactivating Protective Stop by resetting.
If the cause of the Protective Stop by safety functions cannot be removed, Safety Recovery Mode helps for restoration to Normal Operation because there is no Protective Stop by safety functions.

Caution

The safety limit is the condition in which the safety-rated monitoring function determines whether to activate robot stop or not. When stop is completed, the position of the robot and force applied externally may differ from the configured safety limit.

TCP/Robot

It limits various physical parameters related to the TCP/robot. This safety function can be used in power and force limit operation modes.

TCP Force: It sets the force limit applied from the TCP of the robot end. It can be used for purposes of detecting unintended external forces.
Mechanical Power: It sets the limit of the robot’s mechanical power. Mechanical power is proportionate to the robot torque and speed.
TCP Speed: It sets the speed limit of the TCP of the robot end. It can be used for speed and gap monitoring operation mode.
Momentum: It sets the robot momentum limit. Momentum is proportionate to speed and weight, and the impact is the same as the physical amount.
Collision Sensitivity: It sets the sensitivity of the collision detection function which determines whether to continue work or activate Protective Stop with the torque detected in each robot axis. If the sensitivity is 100%, it detects collisions by external forces very sensitively, and it seldom detects collision if the sensitivity is 1%.

Note

If the robot has stopped due to collision detection, the cause is one of the followings:

TCP force limit violation
Collision detection violation

Joint angle speed

It sets the maximum rotation speed of each axis. The limit can be set for each axis.

Note

The joint angle speed is set to the maximum value as a default.
In general, certain axis speed is not set differently among each other.

Joint angle

It sets the maximum operating angle of each axis. The limit can be set for each axis.

All axes are capable of +/- 360 degree rotation, but the joint angle value is set to a limit in Normal Mode as a default.
If the robot is installed on the ground, it is recommended to set the operation range of the axis No.2 to +/- 95 degrees to prevent the collision.
If the robot is installed on a cylindrical pillar or if you deal with a workpiece close to the robot base, the joint angle limit can be modified to allow a wider operating range.

Note

Adding Workcell Items in the Zone allows a separate safety limit to be set for designated zones. Safety limits which are capable of overriding are designated depending on the zone type. For more information, refer to the following link.