Human in working space
Requirements
Availability of robot-specific look-up tables for speed and distances
Minimal distance calculation
Robot joint angles data available
Robot tool center point speed available
Availability of part at conveyor belt
Available proximity sensor data
Display of the current/actual line in robot program
Program lines information
Information about the robot tool state
Coordinates of the robot tool center point (TCP)
Coordinates of the human
Available PLC input output signals
Information about robot gripper valves
Access to HTTP-Client (REST)
Access to HTTP-Server (REST)
Access to IoT-Gateway
Hashcodes / checksums for manipulation source identification
Robot-specific look-up tables for speed and distances
Real time location system tag coordinates + speed available