i.1 Introduction to This Manual
i.1.1 Safety Precautions for Using a Collaborative Robot in a Safe Manner
i.2.3 Important Safety Precautions
i.3.2 Definition of Expressions Used in Operating Procedures
1 Overview of Collaborative Robots
1.1 Collaborative Robot Functions
1.1.2 Unique Functions for Collaborative Robots
1.2 Restrictions on Collaborative Operation
1.3 Default Settings for the Safety Logic Circuits
1.4 Settings Related to the Tool
1.4.1 Configuring the Tool Files
1.4.2 Configuring Tool Switching
1.4.3 Changing the External Force Monitoring Pause Distance When the Tool Is Switched
1.4.4 Tool Change Monitor Function
2 Operation Example of Collaborative Operation
2.1 Enabling and Disabling Collaborative Operation
2.1.1 Enabling and Disabling Collaborative Operation by External Sensor Input
2.1.2 Disabling Collaborative Operation by Changing the Safety Logic Circuit
2.2 Disabling and Enabling the PFL Function
2.2.1 Disabling the PFL Function
2.2.2 Enabling the PFL Function
2.3 Application Examples for a Safety Laser Scanner
2.3.1 When There Is One Monitored Area (Switch to Collaborative Mode)
2.3.2 When There Are Two Monitored Areas (Stop Robot and Switch to Collaborative Mode)
3 Collaborative Operation Functions
3.1.3 Escape from Clamping Function
3.2.2 Manual Operation Function
3.3 Convenient Functions for Collaborative Operation
3.3.1 Robot Motion Filter Setting Function
3.3.2 Tool Weight Setting Function
3.4.3 Enabling and Disabling Palletize Mode
3.4.4 Temporarily Disabling Palletize Mode
3.4.5 Palletize Mode Confirmation Signals
3.4.6 Precautions for Palletize Mode
4.1.1 Restart Operation by External Switch Input
5 I/O, Registers, and Variables Lists
5.2 Collaborative Robot Statuses and Signals
5.3.2 Converting the Values Stored in Registers
7.1 Checking the Status of the Torque Sensors
7.1.1 Checking the Status of the Torque Sensors with the Self-Check Function in the Robot Controller
7.1.2 Checking the Status of the Torque Sensors Using I/O
7.1.3 Checking the Status of the Torque Sensors with the External Force Monitor Window
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