11 Safety Function
11.3 Safety Logic Circuit
11-36
HW1485509
HW1485509
Table 11-11: Status Setting
3. For example, when the EXESP signal is changed from “Normal Open”
to “Normal Close”, the mark “
● ” indicates the external Emergency
Stop signal is in the normal state (Normal Close) and the mark “ 〇 ”
indicates the external Emergency Stop signal is being input (Normal
Open).
4. Select {READBACK} and then {WRITE} to enable changed settings.
No. Signal
Name
Standard Invert
1 GSIN GP safety input signal
(ASF01)
● : OFF [release]/
〇 : ON [short circuit]
GP safety input signal
(ASF01)
● : ON [short circuit]/
〇 : OFF [release]
2 FSBIN GP safety input signal
(ASF02 or ASF03)
● : OFF [release]/
〇 : ON [short circuit])
GP safety input signal
(ASF02 or ASU03)
● : ON [short circuit]/
〇 : OFF [releas
e])
3 PPD
SW Pendant enable switch
signal
● : Grip/
〇 : Not grip (servo OFF)
Pendant enable switch
signal
● : Not grip (servo OFF)/
〇 : Grip)
4 PPESP Pendant Emergency Stop
signal
● : Under Emergency Stop/
〇 : Normal)
Pendant Emergency Stop
signal
● : Normal/
〇 : Under Emergency Stop)
5 PBESP
YRC Controller Emergency
Stop signal
● : Under Emergency Stop/
〇 : Normal
YRC Controller Emergency
Stop signal
● : Normal/
〇 : Under Emergen
cy Stop
6
EXESP External Emergency Stop
input signal
● : Under Emergency Stop/
〇 : Normal
External Emergency Stop
input signal
● : Normal/
〇 : Under Emergency Stop
7 SAFF Safety fence signal
● : Open (safeguarding
opened)/
〇 : Close
Safety fence signal
● : Close/
〇 : Open (safeguarding
opened))
8 HOLD Hold
● : ON (Hold signal is being
input.)/
〇 : ON (Hold signal is not
input.)
Hold
● : OFF (Hold signal is not
input.)/
〇 :
ON (Hold signal is being
input.)
When the ON/OFF settings of the input signals are
changed, outputting the signals that have been output
normally may fail. This may lead to a serious accident.
After changing the ON/OFF settings of the input signals, be
sure to confirm the safety logic circuit operates normally.
Cannot change the ON/OFF status setting of the signal
which is used in System Safety Logic Circuit.
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