5.8 Limits on Robot Safety Setting Function

This API provides these safety-related setters: set_safety_mode, set_safe_stop_reset_type, change_collision_sensitivity, set_auto_safety_move_stop. Other safety settings (safety area, safety stop, safety I/O, etc.) are not provided by this API and should be set directly in the T/P application. Because the initialization process runs only in the T/P application while the robot controller boots, robot safety settings must be made in the T/P application.

As an exception, TOOL and TCP settings, which are used by motion control commands, are provided as API functions, but these settings are not synchronized with the T/P application. They must be registered again after the robot controller reboots or the program is restarted. Therefore, it is recommended to set them in the T/P application and then use them.

Settings are accepted in STATE_INITIALIZING, STATE_SAFE_OFF, STATE_SAFE_OFF2, STATE_EMERGENCY_STOP, and STATE_STANDBY in Manual mode. In any other state the call returns false, an alarm is reported through TOnLogAlarmCB, the motion is quick-stopped and a running program is stopped. set_workpiece_weight, safety-mode changes, servo on, and all motion and program commands are not subject to this rule.