Zone

Depending on the application, certain spaces may require different safety limits to be applied than the global safety limits specified in the Robot Limits settings. It is possible to set a separate safety limit only in the designated section using the section setting function. Overridable safety limits are designated depending on the section type.

• Setting the Collaborative Zone

• Setting the Crushing Prevention Zone

• Setting the Sensitivity Reduction Zone

• Setting the Tool Orientation Limit Zone

• (3.2.1_temp-en_US) Setting the custom zone

The Valid Space setting makes it possible to specify whether the overridden safety limit applies inside or outside the section.

The Zone Margin setting makes it possible to easily specify how the volume is scaled relative to the specified coordinates.

Safety Limits overridden in a zone include the following priorities:

• If a Zone is set and some Safety Limits are overridden, those Safety Limits override over the global Safety Limits.
• Safety Limits overridden in a High Priority Zone override over Safety Limits overridden in a non-prioritized zone.
• If there are multiple Safety Limits for a type of safety function at a particular TCP location, the most restrictive Safety Limit in the nested zone takes precedence.
• Because High Priority Zones are nested, if there are multiple safety limits for a type of safety function at a particular TCP location, the least restrictive Safety Limit overrides.

Warning

High Priority Zones override other zones and global robot limit settings. If multiple High Priority Zones are nested, the safety function overrides the least restrictive safety limit. For safety reasons, High Priority Zones should be the minimum possible size.

Selecting Dynamic Zone Enable will enable/disable the zone according to the input signal from the I/O port. If the input is not enabled, the corresponding Space Limit will become disabled, and the robot operates as if the corresponding Space Limit is not present