Introduction

When a Robot Functional Safety Unit (FSU) Range Limit is active during playback the controller makes many calculations based on axis coasting values, speed, the look ahead function during motion, plus an additional % to ensure safety. The higher the speed, the greater the coasting value will be. When the robot is headed towards or near a range limit, these factors combined can generate the e-stop condition even if the actual path trajectory will not invade the set range limit. This document provides some tips to pre-plan and avoid these situations. There are also a few examples of this shown in the Robot Range Limit section of the YRC1000 FSU Manual, all of our manuals are available at our website.

Use a Slow Down Plane

One option is to create a ‘slow down plane” using a planar robot range limit to activate a speed limit file in the problem areas, shown below.

Approach Warning Buzzer

A second option more helpful for path planning, is to increase the default distance the warning buzzer will alert you when the robot is near a range limit. Setting this distance to a large enough value can help mitigate the unexpected e-stop you may encounter to full speed play mode.

3D Graphics Display

Another helpful tool is the 3D Graphics Display feature which can display the robot model, tool interference model, and robot range limit. For detailed instruction on this function please review the YRC1000 General Operators Manual.