YASKAWA YRC1000 - Page 21

Table of Contents
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HW1485509
HW1485509
11.4.4 Robot Range Limit.......................................................................................... 11-60
11.4.4.1 Condition Setting ............................................................................... 11-61
11.4.4.2 Confirming the Safety Range and Starting the Robot Range Limit... 11-67
11.4.4.3 Switch the Monitoring Area ............................................................... 11-69
11.4.4.4 Estimated CPU Load......................................................................... 11-71
11.4.5 Axis Range Limit............................................................................................. 11-72
11.4.5.1 Condition Setting ............................................................................... 11-73
11.4.5.2 Confirming the Safety Range and Starting the Axis Range Monitor . 11-76
11.4.6 Speed Limit .................................................................................................... 11-77
11.4.6.1 Outline of the Speed Limit................................................................. 11-77
11.4.6.2 Condition Setting ............................................................................... 11-79
11.4.6.3 Starting the Speed Limit.................................................................... 11-81
11.4.6.4 Speed Limit in MANUAL (TEACH) Mode .......................................... 11-81
11.4.7 Axis Speed Monitor ........................................................................................ 11-83
11.4.7.1 Condition Setting ............................................................................... 11-84
11.4.7.2 Starting the Axis Speed Monitor ....................................................... 11-86
11.4.8 Tool Angle Monitor ......................................................................................... 11-87
11.4.9 Tool Change Monitor ..................................................................................... 11-87
11.4.10 External Force Monitor ................................................................................. 11-87
11.4.10.1 Condition Setting............................................................................. 11-89
11.4.10.2 Confirming and Starting the External Force Monitor ....................... 11-90
11.4.10.3 Temporarily Disable All External Force Monitors ............................ 11-91
11.4.10.4 Daily Inspection............................................................................... 11-91
11.4.11 Safety Signal ................................................................................................ 11-96
11.4.11.1 Allocation of Safety Logic Circuit Extended Signal.......................... 11-97
11.4.11.2 Allocation of Safety Fieldbus Signal................................................ 11-97
11.4.11.3 Enable Condition of Safety Functions Setting................................. 11-97
11.4.11.4 Safety Signal Output Value ............................................................ 11-99
11.5 Safety Caution ........................................................................................................... 11-100
11.5.1 How to Restart the YRC Controller............................................................... 11-100
11.5.2 Check Items before Operating the Manipulator............................................ 11-100
11.5.3 About the Behavior near Singularity............................................................. 11-101
11.6 Data Protection.......................................................................................................... 11-102
11.6.1 Duplicate Data.............................................................................................. 11-102
11.6.2 Safety Board FLASH Reset.......................................................................... 11-102
11.6.3 Verify Safety Settings (CRC)........................................................................ 11-103
11.6.3.1 Overview ......................................................................................... 11-103
11.6.3.2 Verify Safety Settings (CRC) Screen .............................................. 11-104
11.6.3.3 Change of Condition File by an External Device............................. 11-105
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