11 Safety Function
11.4 Functional Safety Functions
11-60
HW1485509
HW1485509
11.4.4 Robot Range Limit
Robot Range Limit function is a function which monitors robot position
using software.
Robot Range Limit define the Robot range of motion with 3 shapes as
following, and then monitors the Robot’s arm or its tool to be inside the
range of motion.
1. Custom
2. Cubic
3. Plane
While Robot is in operation, based on the Robot motion speed, this
function calculates the coasting value in case of the immediate stop by the
alarm, and then, including this value, this function monitors the safety
range. With this monitoring operation, the axes would not exceed the
safety range even if a motion error is detected.
In case an error is detected, the power supply to the motor is stopped
using the machine safety and the error is notified using an alarm.
Follow the procedures below when starting the Robot range limit function.
1. Set the Tool File.
(Before using this function, execute tool file setting by referring to
chapter 6.1 “Tool Settings”)
2. Set the Tool Interference File.
(Before using this function, execute tool interference file setting by
referring to “YRC1000 OPTIONS INSTRUCTIONS FOR
FUNCTIONAL SAFETY FUNCTION (HW1483576)”.)
3. Set the Robot Range Limit function.
4. Confirm the safety range.
5. Start the Robot range limit function.
To Next Page
Loading...
