Hanwha HCR-5, Руководство пользователя

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Chapter 8 Safety Settings
95
There are several ways to limit the robot's movement.

Torque
: You can limit the max force that the robot(TCP) is exerting to the outside.

Force
: TBD

Speed
: You can limit the max speed for the TCP's linear movement.

Collision mitigation
: This can be set to mitigate the impact of a target object in the
event of a collision.

Deceleration mode speed (%)
: Sets the speed in deceleration mode. When
deceleration mode is applied, a red alarm occurs at the top of the screen. Clicking the alarm
moves you to the initial screen.

Joint Rotation
: You can limit the angle of each joint.

Joint Speed
: You can limit the speed of each joint.
Press the
Cancel
button to revert the settings newly changed by a user in the current
tab (general mode or deceleration mode) to the previous value.
When the settings are complete, press the
Apply
button to apply it to the robot.
Caution

The joint speed cannot be limited with the
Speed
option. You can limit the joint
speed only with the options in the
Joint Speed
tab.

If the temperature of the operating environment for the robot arm is not greater
than 10 ℃ during the initial start, collis ion detection may occur due to the limited
force. If such problem occurs, increase the limit value of
Force
sufficiently,
operate it at a low speed for about 30 to 60 minutes for preheating, and lower the
Force
value to use it.