Han's Robot Elfin Series, Установка оборудования, Страница: 44 / 45

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5.2 Limiting Security-Related Functions
Limiting Safety Function Description
Joint position Min. and Max. joint angular positions
Joint speed Max. joint angular speed
TCP position
Plane where the TCP position of the robot is limited
in Cartesian space
TCP speed Max. speed of robot TCP
TCP force Max. thrust of robot TCP
5.3 Electrical Safety Specifications
Safety Input Description
Robot emergency stop
Execute Class 1 stop* and use system emergency
stop to notify the body
Emergency stop button
Execute Class 1 stop* and use system emergency
stop to notify the body
System emergency stop Execute Class 1 stop*
Protective stop Execute Class 2 stop*
Emergency stop reset Restore the robot from protective stop state
*
Term explanation
：
Class 0 stop: The robot stops operation immediately after the robot power supply is cut off. This
is an uncontrolled stop. The robot may deviate from a route set in the program because every
joint is braked at the fastest speed.
This protective stop can be used only when a safety evaluation limit is exceeded or when an
error occurs in the safety evaluation part of the control system.