Notes for Safe Operation

Error detecting functions

When force is limited using the compliance function, the robot may move toward the force limiting direction due to external force. The robot may also move due to the component force in a force limiting direction of an external force applied in a direction other than the force limiting direction. The following functions have been added to detect any abnormality/error for the safety in adjusting the robot.

1. Force control, arm end deviation error (8320152E)
   This error occurs when the position deviation of the robot tool tip exceeds the allowed value. The initial values for allowed deviation is 100 (mm) along and 10 (deg) about the X, Y, and Z axes. "ForceParam" command can be used to change the allowable deviation.

    

   Setting a large value for allowable deviation may prevent errors from being detected. Therefore, do not set excessive limits.

2. Force control, command value error (8320152F)
   This error occurs when excessive force is detected at the robot tool tip. It occurs when the robot performs a push motion towards the direction in which a high force limiting rate is set. If this error occurs, make sure that the force limiting direction and force limiting parameters are set properly.

3. J* Excessive position error (force control)(8320432∗)
   This error occurs if the travel distance of each axis exceeds the allowable value, when the force sensor–based force control function is activated. The initial setting of allowable value is 10 degree in each axis. The allowable value can be changed by "ForceParam" command.

For safety during adjustments

To secure the safety of personnel and machinery during adjustment tasks, do not set any excessive values for the allowable position deviation and allowable axis deviation. Also, before you perform any adjustment, use the "ForceParam" command to set values that are smaller than the initial values (10 (mm) along and 5 (degrees) about the X, Y and Z axes) for allowable deviations in all directions except the force limiting direction.

Adjusting parameters for the compliance function

Adjust the limiting force used while compliance function is enabled to a value based on the force limiting rate. Note that the relationship between the force limiting value and force limiting rate will vary according to the posture and direction of the robot. Adjust the parameters for each force limiting posture and direction.

Setting tool and work coordinates

You cannot change tool coordinates and work coordinates when the force sensor–based force control function is performed.

Robot motion accuracy while compliance function enabled

When a motion command is executed while compliance function is enabled, accuracy of the motion path of the robot decreases. The position in the force limiting direction may present a large deviation. If accurate motion is required, disable the compliance function.
The stop accuracy of the robot decreases while compliance function is enabled.
If the encoder value check motion (refer to "Encoder value check motion") is performed while compliance function is enabled, the robot may stop for a longer period, or the error "8320403* Encoder value check motion timeout" may occur. If accurate stop motion is required, disable the compliance function.

Precaution when Sending/Receiving Data

If data is sent or received through Ethernet during the force control performed by the force sensor-based force control function, “force sensor data error” may occur. Make sure that data is sent or received to/from an external device while the force control by the force sensor-based force control function is disabled.

Vibration Control M

Disable Vibration control M at the time of Force control.