Upper/Lower Threshold Range and Default Value of Safety Parameters
P3020
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) | - | - | - | - | - | - | - | |
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 | 80 | 80 | 0 | 80 | 80 | 10 | |
J4 (degree/s) | - | - | - | - | - | - | - | |
J5 (degree/s) | 0 | 200 | 200 | 0 | 200 | 200 | 10 | |
J6 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 1800 | 280 | 0 | 1800 | 140 | - |
Power (W) | 0 | 1800 | 1200 | 0 | 1800 | 600 | - | |
Speed (mm/s) | 0 | 4500 | 3000 | 0 | 4500 | 2250 | - | |
Momentum (kgm/s) | 0 | 400 | 200 | 0 | 400 | 122 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |