11 Safety Function
11.3 Safety Logic Circuit
11-53
HW1485509
HW1485509
If the manipulator stops its operation by the safety logic circuit, the
message “Robot is stopped by safety logic circuit” is shown on the
message area of the pendant.
11.3.9.6 Example 6 (Temporarily Disable PFL for Human Collaborative Robots)
YASKAWA recommends temporarily disabling PFL to perform certain
operations to improve usability/performance. Example scenarios could
include:
– Moving the Robot at full speed
– Moving the Robot near singular positions (see Chapter 11.6.3)
– When the Robot cannot be operated due to an error caused by
recurring external force monitor setting violations
– Automatic estimation of tool load
Follow the steps below to temporarily disable PFL for a collaborative
system in its factory state (i.e. prior to user additions/edits).
1. Navigate to {Safety Settings} {Safety Logic Circuit}
2. Find the line that contains an output (right side of screen) set to
“MSOUT54 (Collaborative Operation Request). (First line at the top of
the circuit for system in its factory state.)
– Select the left-most gate in this line (gate = FSBIN01 in the factory
state)
• For the safety logic circuit of the YRC Controller, even if
the Robot deceleration to a stop (SVOFF CAT1) is turned
ON, the robot stops its operation instantly without
decelerating in MANUAL (TEACH) mode. Under the
AUTOMATIC (PLAY) mode, if the manipulator
deceleration to a stop (SVOFF CAT1) is turned ON, the
Robot decelerates and stops its operation.
• When the Robot is stopped by the safety logic circuit
signal, “Robot is stopped by safety logic circuit” is shown
on the message area of the smart pendant.
The control status signal #80343(Robot stopped by safety
logic circuit) is turned ON.
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