Safety Settings

The safety system limits the current/torque of each joint according to the force limit, tool

positions settings and several other parameters. The tool position should be defined at the tip of the

screwdriver or nut runner, where it contacts the fastener. Having the TCP/tool positions configured

properly and defining the least restricted tool force limit value that the risk assessment permits,

enables the robot arm to handle higher tightening torques from an automatic screwdriver or nut

runner.