4.1.4. Joint space
4.1.4. Joint space
Joint space could be defined working space or protected space for monitoring joint movement. Working space means the limited space where the joint can move freely but cannot leave. Otherwise, protected space is the limited space where the joint cannot enter and move.
Joint space could be configured up to 4 spaces and each space consists of 8 axis maximum. Each space should be configured including stopping distance. Spaces can be activated by parameter setting or Safety I/O.
Figure 4.4 Joint spaces
TCP speed configured in joint spaces also be monitored. If the TCP speed exceeds limit value of activated space, STO will be triggered.
When the joint violate the cartesian space, the reaction will be according to configuration of stop at bound. If the stop at bound is on, STO will be triggered and robot will be stopped. If not, robot will not stop and send alarm to safety PLC.
Table 4‑4 Joint space parameters
Joint space parameter: 4 Spaces | ||
Parameter name | Value | Description |
Name | Name string | Max. 24charaters. Default=“Joint Space n“ ※ Used in the the HRSafeSpace only. Name is not transferred to the SafeSpace from the robot controller. |
Type | 0,1 | 0=Working space(Default) 1=Protected space |
Activation | 0~3 | 0=Always Off(Default) 1=Always On 2=Safety IO 3=Safety fieldbus |
Max. TCP speed | 1~30,000 (mm/s) | Limit of Cartesian TCP speed Default: 30,000 |
TCP speed monitoring | 0,1 | Monitor TCP speed when the tool is 0= inside of the space 1= outside of the space |
Stop at bound | 0,1 | 0=don’t stop 1=stop(default) |
Properties: Joint1~8 | ||
Monitoring On/Off | On/Off | Activation of monitoring Off=This joint is not monitored(Default) On=This joint is monitored |
Min | -360~360(°) or -30,000~ 30,000(mm) | Lower boundary of the joint space Default: -360 |
Max | -360~360(°) or -30,000~ 30,000(mm) | Upper boundary of the joint space Default: 360 |
The range of joint space should be considered Soft limit which is set in robot controller. If the range of working space is larger than Soft limit, the robot could be stopped in working space when the joint position is over the Soft limit range.