Basic Settings For Collaborative Operation; Changing The External Force Limits - YASKAWA YRC1000micro Collaborative Operation Instructions

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3.2. Basic Settings for Collaborative Operation

3.2.1. Changing the External Force Limits

To change the external force limits PFL function monitors, use the following steps
By factory default, the file number 1 is enabled and the external force limit for the TCP resultant
force and the external forces along the X-, Y-, and Z-axes is set to 100 N.
(1) Select {SAFETY FUNC.} - {EXTERNAL FORCE LIMIT SETTING} under the main menu.
(2) Select the file number for the external force limit you want to configure. To configure more than
one external force limit, you must configure as many limit files as the limits. You can configure and
save up to 32 limit files.
・ You are recommended not to enable more than five limit files at a time. You can enable six or
more limit files but doing so may result in a longer time taken to judge the external forces.
・ Disabling all the external force limit files disables the PFL function itself.
NOTICE
CAUTION
3-2
Configuring Each Function
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