Installation and Commissioning

Safety2.4 SafetyMany safety concepts reside in hardware and are not within the scope of this document.However, some important software contributions will be mentioned:Reduced SpeedIn the reduced speed mode, the controller limits all parts of the robot body, the TCPand one user defined point (attached to the upper arm) to 250 mm/s (can be set lower).This limitation also works in joint system motion.Motion SupervisionSee Motion Control.AuthorisationIt is possible to limit the access to certain commands by assigning different passwordsto four different user levels (operator, service, programmer, service & programmer). Itis possible to define the commands available at the different levels.Limited modposIt is possible to limit the allowed distance/rotation when modifying positions.Product Specification RobotWare for BaseWare OS 3.1 9