11 Safety Function
11.4 Functional Safety Functions
11-76
HW1485509
HW1485509
11.4.5.2 Confirming the Safety Range and Starting the Axis Range Monitor
If “Always ON” or “Signal” for Enable Condition is selected, confirm that
the monitoring works correctly in the safety range as the setting.
When confirming the safety range, move the axes of the object group into
the safety range, and then enable the monitoring of the setting. If “Signal”
for Enable Condition is selected, enable the setting by selecting input
signals.
Move the axes of the object group to confirm that they stop within the
specified safety range.
Confirm by jogging whether the set area is correct.
After confirming that the object axis moves to reach the edge of the
specified safety range, select {CONFIRM} on the screen. The axis range
limit can be performed.
Execute playback operation to confirm the manipulator’s motion. An alarm
may occur in case the teaching point or the settings are inappropriate.
When “Alarm 4780: F-SAFE AXIS RANGE LIMIT INTF” or “Alarm 4781:
AXIS RANGE LIMIT INTF” appeared
<Cause>
The position of the axis is out of the safety range or a range of motion
error is detected when the axis moved.
In the functional safety function, the axis position is monitored based on
the feedback pulse from the motor. In this case, taking the axis speed or
coasting value into consideration, calculation of the movement is executed
so that the manipulator would not come out from the safety range.
For this reason, in case a teaching point is set close to the edge of the
safety range, and when the teaching speed is high, this alarm occurs.
<Countermeasure>
Confirm the safety range.
Modify the teaching point so that it moves not to close to the safety range
border.
Decrease the manipulator’s teaching speed when it passes by the border
of the safety range.
In the functional safety function, the range of motion is
monitored by calculating the coasting values of the
manipulator. For this reason, the manipulator stops just
before exceeding the safety range in case it moves to the
teaching point near the safety range.
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