System Setup
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9.26 Safety logic circuit
9.26.1 Overview
The safety logic circuit is a function to create the safety logic circuit on the programming
pendant. It enables to set up the logical operations, such as stopping the robot and
outputting the SERVO ON signal.
The followings are the contents of this function:
• Executes the safety logic circuit by the safety circuit board corresponded to the secure
authentication.
• The safety logic circuit consists of the system section and the user section.
• The system section of the safety logic circuit is the specific circuit of YASKAWA, so that
the safety logic circuit cannot be edited. Meanwhile, for the user part, it is possible to
edit.
• Both system and user section of the safety logic circuit consist of a circuit with 2 inputs
and 1 output or a circuit with 1 input and 1 output.
• Both system and user section of the safety logic circuit consist of 128 lines.
• Both system and user section of the safety logic circuit are operated in every 2ms cycle.
• Both system and user section of the safety logic circuit can be referred by the all modes
regardless the SECURITY mode, however the user section can be edit only when the
SECURITY mode is “SAFETY MODE” plus under the TEACH mode and the SERVO is
OFF.
• Conventionally, some functions were performed only by using hard-wired signals. With
the YRC1000, by using an optional safety PLC and an optional safety logic circuit, these
functions can be controlled from the safety PLC. This enables less wiring.
• Meanwhile, the signals which has been controlled by a hardware are also always
monitored. Thus, the safety function, which turns OFF the servo power supply when the
error is detected, is maintained
The following is the example of configuration with the safety PLC.
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