11 Safety Function
11.4 Functional Safety Functions
11-62
HW1485509
HW1485509
Action
Select alarm or not alarm (Status) to the monitoring result of the setting.
Shape Type
Ref. Coord.
Specifies the reference coordinate for the shape.
Estimated CPU Load
Displays the rate of CPU load for monitoring.
Setting Activation Signal
Specify the safety input signal for enable setting when “Enable
Condition” is “Signal”.
For the details of the safety signal usage, refer to chapter 11.4 “Functional
Safety Functions”.
Output Signal
Specify the safety output signal for output the monitoring result.
Value Description
Alarm Servo is turned OFF with an alarm when an error occurs
under the monitoring condition.
Status Although monitoring is performed under the condition,
the alarm does not occur, and the servo is not turned
OFF even if a monitoring error occurred.
The monitoring result can be obtained by the safety
output signal.
DANGER
When “Status” is set to Action, the functional safety function does not
stop the manipulator operation even if a monitoring error is detected in
the object file. In this regard, before operating the manipulator,
sufficiently consider possible risks attributed to the no alarm operation
(risk assessment) and take necessary safety measures.
Value Description
Custom Specifies the monitoring volume as a polygon on the X-Y
plane with a height in Z-axis direction.
Cubic Specifies the monitoring volume as a polygon on the X-Y
plane with a height in Z-axis direction.
Plane Specifies the monitoring area as a plane along either XY, YZ or
ZX coordinates.
Value Description
Robot Define the monitoring area on the Robot coordinate system.
World Define the monitoring area on the World (Base) coordinate
system.
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