11 Safety Function
11.2 Common Operation
11-4
HW1485509
HW1485509
3. Compare the readback result.
If the readback result matches the edited data, it is successfully
transferred. But if the readback result does not matches the edited data,
the comparison result is shown as “***”. If so, the edited data or readback
data can be seen by selecting {Edit Value} or {Readback Value} in
{Display} option.
If comparison result does not match the edited data, the setting cannot be
entered and saved.
4. Press {WRITE} to update the settings of the safety circuit board.
– {CONFIRM} appears on the screen if the setting requires
confirmation.
5. Press {CONFIRM} to enable the safety function after confirmation.
11.2.3 Tool Configuration
Specific safety functions read and use tool settings. The following table
lists the safety functions and indicates which functions require tool
settings before using the safety functions.
The tool setting must be properly specified for the precise monitoring of
the safety function. To perform the tool setting properly refer to chapter
6.1 “Tool Settings”.
Table 11-1: Tool Configuration for Safety Functions
Safety Functions Tool Settings Requirement
Robot Range Limit
Axis Range Limit X
Speed Limit
Axis Speed Monitor X
Tool Angle Monitor
Tool Change Monitor X
External Force Monitor
: tool setting required, X: tool setting not required
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