YASKAWA DX200 - 1.5 Motoman Safety; 1.5.1 Installation and Wiring Safety

1 Safety
1.5 Motoman Safety
1-6
182582-1CD
182582-1CD
MH900, DX200 Controller
1.5 Motoman Safety
The followings are safety functions of Motoman/controller.
• Emergency stop SW input (controller/programming pendant)
• Enable SW input (programming pendant)
• Safeguarding interlock signal input (safety plug)
• External emergency stop SW input
• External enable SW input
• Servo power enable input
• Overrun input (manipulator/external axis)
• Universal safety input
These safety functions conform to the following safety standards.
• EN ISO 13849-1:2008 + AC:2009 Cat.4 / PL e
• EN 62061:2005 + AC:2010 + A1:2013 / IEC 61508 Part 1-7:2010 SIL3
The use frequency of each switch for safety functions is assumed as
below.
• Emergency stop SW 500 times/ year
• External emergency stop SW 500 times/ year
• Enable SW (programming pendant) 2000 times/ year
• External enable SW 2000 times/ year
1.5.1 Installation and Wiring Safety
Refer to the MOTOMAN- Instructions manual and the controller
instructions for details on installation and wiring.
In planning installation, adapt an easy to observe arrangement to ensure
safety. Take safety into consideration when planning the installation.
Observe the following when installing the manipulator:
WARNING
• Select an area per below to install the manipulator:
Confirm the area is large enough to fully extend the manipulator arm
with a tool and will not reach a side wall, safeguards, or the controller.
Failure to observe this caution may result in injury or damage from
unexpected movement of the manipulator.
1000mm or more
1000mm or more
1000mm or more
1000mm or more
Door
DX200
P-point maximum envelope
of Manipulator
Safeguarding
Maximum Working Envelope of
Maximum Working Envelope of
Manipulator Including Tool or
Manipulator Including Tool or
Workpiece End
Workpiece End
Maximum Working Envelope of
Manipulator Including Tool or
Workpiece End
Door
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