Safety Parameter Set

You can set up the safety limits for each set of safety parameters, creating distinct configurations for normal, or higher settings, and reduced. The reduced configuration is active when the tool/end effector is positioned on the reduced side of a Trigger Reduced Plane, or when the reduced configuration is externally triggered by a safety input.

Using a plane to trigger the Reduced configuration: When the robot arm moves from the side of the trigger plane configured with reduced safety parameters, to the side that is configured with normal safety parameters, there is a 20 mm area around the trigger plane where both normal and reduced limits are allowed. This area around the trigger plane prevents nuisance safety stops when the robot is exactly at the limit.

Using an input to trigger the Reduced configuration: When a safety input starts, or stops, the reduced configuration, up to 500 ms can elapse before the new limit values become active. This can happen in either of the following circumstances:

• Switching from the reduced configuration to normal

• Switching from the normal configuration to reduced

The robot arm adapts to the new safety limits within the 500 ms.

When a safety limit is exceeded, the safety system must be restarted. For example, if a joint position limit is outside a safety limit, at start-up, Recovery is activated.

You cannot run programs for the robot when recovery is activated, but the robot arm can be manually moved back within limits using Freedrive, or by using the Move tab in PolyScope.

The safety limits for Recovery are:

The safety system issues a Stop Category 0 if a violation of these limits appears.