安全参数的阈值范围上/下限和默认值
A0509, A0509S
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) | -360 | 360 | -95~95 | -360 | 360 | -95~95 | 3/-3 | |
J3 (degree) | -160 | 160 | -135~135 | -160 | 160 | -135~135 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
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 | 180 | 180 | 0 | 180 | 180 | 10 |
J2 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J3 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J4 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
J5 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
J6 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 450 | 200 | 0 | 450 | 100 | - |
Power (W) | 0 | 2000 | 600 | 0 | 2000 | 100 | - | |
Speed (mm/s) | 0 | 7000 | 2000 | 0 | 7000 | 1000 | - | |
Momentum (kgm/s) | 0 | 75 | 38 | 0 | 75 | 23 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |
A0912, A0912S
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) | -360 | 360 | -95~95 | -360 | 360 | -95~95 | 3/-3 | |
J3 (degree) | -160 | 160 | -135~135 | -160 | 160 | -135~135 | 3/-3 | |
J4 (degree) | -360 | 360 | -360~360 | -360 | 360 | -360~360 | 3/-3 | |
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 | 180 | 180 | 0 | 180 | 180 | 10 |
J2 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J3 (degree/s) | 0 | 180 | 180 | 0 | 180 | 180 | 10 | |
J4 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
J5 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
J6 (degree/s) | 0 | 360 | 360 | 0 | 360 | 360 | 10 | |
Robot/TCP Limits | Force (N) | 0 | 600 | 300 | 0 | 600 | 150 | - |
Power (W) | 0 | 2000 | 1100 | 0 | 2000 | 180 | - | |
Speed (mm/s) | 0 | 8000 | 2000 | 0 | 8000 | 1500 | - | |
Momentum (kgm/s) | 0 | 165 | 82 | 0 | 165 | 50 | - | |
Collision Detection Sensitivity (%) | 1 | 100 | 75 | - | - | - | - | |
Safety I/O | Speed Reduction Ratio (%) | - | - | - | 1 | 100 | 20 | - |