YASKAWA YRC1000 - Page 20

Table of Contents
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HW1485509
HW1485509
11.3.3.4 Edit Input Relays ............................................................................... 11-18
11.3.3.5 Edit Output Relays ............................................................................ 11-20
11.3.3.6 Add Relay ..........................................................................................11-23
11.3.3.7 Delete Relay ...................................................................................... 11-24
11.3.3.8 Delete Line ........................................................................................11-25
11.3.3.9 Move Relay ....................................................................................... 11-25
11.3.3.10 Cancel Edit ...................................................................................... 11-25
11.3.3.11 Transferring and Updating Safety Logic Circuit File........................11-26
11.3.3.12 Execute Safety Logic Circuit............................................................ 11-27
11.3.4 Setting of Input/Output Signals.......................................................................11-27
11.3.4.1 Setting of General Purpose Input Signal (FSBIN) .............................11-28
11.3.4.2 Setting of General Purpose Output Signal (FSBOUT) ...................... 11-28
11.3.4.3 Setting of Safety Fieldbus Input Signals (SFBIN (Fieldbus))............. 11-29
11.3.4.4 Setting of Safety Fieldbus Output Signals (SFBOUT (Fieldbus))...... 11-30
11.3.4.5 Setting of Safety Functions Output signals (FSOUT)........................11-31
11.3.4.6 Setting of Safety Logic Circuit Output Signals (MSOUT) .................. 11-32
11.3.4.7 Settings of Specific Input Signals (SPIN) ..........................................11-33
11.3.5 Setting ON/OFF Status to the Input Signals................................................... 11-35
11.3.6 About Output Signals...................................................................................... 11-37
11.3.6.1 Correspondence with Hard Wire .......................................................11-37
11.3.6.2 Display of the Message on the Pendant............................................ 11-38
11.3.6.3 Full Speed Mode ............................................................................... 11-39
11.3.7 General-Purpose Safety Output Monitoring Signal......................................... 11-40
11.3.7.1 Activate Signals .................................................................................11-40
11.3.7.2 Correspondence between General Purpose Output Signals
and Monitoring Signals .......................................................................11-41
11.3.7.3 Example of Setting for Monitoring Signals......................................... 11-42
11.3.8 Safety Data Monitoring ...................................................................................11-43
11.3.9 Example of Safety Logic Circuit...................................................................... 11-48
11.3.9.1 Example1 (AND)................................................................................ 11-48
11.3.9.2 Example 2 (OR).................................................................................11-49
11.3.9.3 Example3 (Pulse) ..............................................................................11-50
11.3.9.4 Example4 (ON Delay)........................................................................ 11-51
11.3.9.5 Example 5 (Decelerate and Stop the Robot)..................................... 11-52
11.3.9.6 Example 6 (Temporarily Disable PFL
for Human Collaborative Robots) ........................................................ 11-53
11.4 Functional Safety Functions.........................................................................................11-55
11.4.1 Outline ............................................................................................................ 11-55
11.4.2 List of Safety Functions ..................................................................................11-55
11.4.3 Safety Functions List View..............................................................................11-56
11.4.3.1 List View ............................................................................................11-56
11.4.3.2 Create New Setting ...........................................................................11-57
11.4.3.3 Delete Setting .................................................................................... 11-59
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