Adjusting Severity of Deadmanswitch release

    Hey all, is it possible to lower the severity of deadman switch release or trigger to controlled stop instead of power off stop? Many of our programmers (myself included) have a habit of letting go of the d.m.s. while programming to stop the robot and I've realized this is pretty bad for the bot. If anyone is aware of a way to change this let me know!
    Thanks in advance:smiling_face:

    I just had a introductory class from Kuka and my courser specifically mentioned this issue and reminded us to be careful with deadman switch. I don't think anything could be done for severity and I don't know how hard or even if possible to change its function from power off to controlled stop but I believe if there was a way they would have used it in the college because they already had a lot of safety measurements and all the newbies like myself are in danger of doing that mistake more frequently than your more experienced programmers and yourself.

    You can use (option) "All smooth stop" . Then the robot will do a smooth stop.

    "Smooth E-Stop Function" option
    When "Smooth E-Stop Function" (A05B-2600-J651) option is specified, the stop type of the following
    alarms becomes Smooth stop in all operation modes (AUTO, T1 and T2 mode).
    SRVO-001 Operator panel E-stop Operator panel emergency stop is pressed.
    SRVO-002 Teach pendant E-stop Teach pendant emergency stop is pressed.
    SRVO-003 Deadman switch released Both deadman switches on Teach pendant are released. SRVO-007 External emergency stops External emergency stop input (EES1-EES11, EES2-EES21) is
    open.
    SRVO-037 IMSTP input (Group: %d) IMSTP input (*IMSTP signal for a peripheral device interface) is
    OFF.
    SRVO-232 NTED input NTED input (NTED1-NTED11, NTED2-NTED21) is open.
    SRVO-408 DCS SSO Ext Emergency Stop In DCS Safe I/O connect function, SSO[3] is OFF.
    SRVO-409 DCS SSO Servo Disconnect In DCS Safe I/O connect function, SSO[4] is OFF.
    SRVO-410 DCS SSO NTED input In DCS Safe I/O connect function, SSO[5] is OFF.
    SRVO-419 DCS PROFIsafe comm. error PROFINET Safety communication error occurs.


    Best

    Hi Zardlin,

    I think it's all or nothing.

    But I can't really remember. And I can't find the menu anymore....

    Maybe ask fanuc representive for more details...


    ... More info from manual (coordinated motion manual):

    Smooth stop is different from Power-Off stop as follows:
    • In Smooth stop, the robot is stopped along the program path. This function is effective for a system
    where the robot can interfere with other devices if it deviates from the program path.
    • In Smooth stop, physical impact is less than Power-Off stop. This function is effective for systems
    where the physical impact to the mechanical unit or EOAT (End Of Arm Tool) should be
    minimized.
    • The stopping distance and time of Smooth stop is longer than those of Power-Off stop, depending on
    the robot model and axis.
    Smooth stop is different from Controlled stop as follows:
    • The stopping distance and time of Smooth stop is normally shorter than those of Controlled stop,
    depending on the robot model and axis.


    When this option is loaded, this function cannot be disabled.


    The stop type of DCS Position and Speed Check functions is not affected by the loading of this option.


    WARNING
    The stopping distance and time of Smooth stop are longer than those of
    Power-Off stop. A risk assessment for the whole robot system which takes into
    consideration the increased stopping distance and stopping time, is necessary
    when this option is loaded.


    Best

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