Force Detection Hold Function; Version Yas2.41 Or Later And Yrc1000Micro System Version Ybs2.10 Or Later) - YASKAWA YRC1000micro Collaborative Operation Instructions

HW1484764

2.4. Force Detection Hold Function

(Supported Only by YRC1000 System Version YAS2.41 or Later and
YRC1000micro System Version YBS2.10 or Later)
The force detection hold function temporarily stops the job when the external force acting on the
manipulator exceeds the preset threshold with collaborative operation enabled. You can use this easily
configurable function to stop the manipulator more slowly than the PFL function.
When the manipulator is stopped by the force detection hold function, the [START] button lamp at the
top of the programming pendant goes off, the [HOLD] button lamp lights up, and the resume switch
located below the collaborative operation lamp lights up.
Pressing the resume switch while it is lit cancels the stop position monitoring and allows you to resume
the operation from the protective stop position.
The force detection hold function is not functions compliant with safety related standards.
NOTICE
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Functional Overview
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