11 Safety Function
11.4 Functional Safety Functions
11-67
HW1485509
HW1485509
Plane Type
Specifies the plane type to make.
Point (X, Y) (Y, Z) (X, Z)
Specify two points to draw a straight line on a coordinate plane.
In case the coordinates of these two points overlapped, the setting is
regarded as an error.
{ }: Set the point as the current TCP position.
11.4.4.2 Confirming the Safety Range and Starting the Robot Range Limit
If “Always ON” or “Signal” for Enable Condition is selected, confirm that
the monitoring works correctly in the safety range as the setting.
When confirming the safety range, move the axes of the object group into
the safety range, and then enable the monitoring of the setting. If “Signal”
for Enable Condition is selected, enable the setting by selecting input
signals.
Move the axes of the object group to confirm that they stop within the
specified safety range.
Confirm by jogging whether the set area is correct.
In case “Alarm 4783: F-SAFE ROBOT RANGE LIMIT INTF” or “Alarm
4784: ROBOT RANGE LIMIT INTF” appeared
<Cause>
The positions of the Robot and the tool are out of its safety area, or an
axis range limit error is detected when the manipulator started moving.
Inside the Robot range limit, taking the feedback speed or the coasting
value which were detected by the functional safety function, into
consideration, calculation of the movement is executed so that the
manipulator would not come out from the safety range. For this reason,
when a manipulator moves close to the border of the range, this alarm
occurs because the higher its teaching speed becomes, the more its
coasting value increases.
<Countermeasure>
Check that the safety range is appropriately set.
Execute the teaching operation so that the manipulator does not approach
close to the border of the range.
Decrease the teaching speed near the border of the range.
Value Description
Perpendicular
to X-Y
Draw a line on either X-Y coordinate plane, and then,
along the line, set a plane (wall) in the vertical direction.
Perpendicular
to Y-Z
Draw a line on either Y-Z coordinate plane, and then, along
the line, set a plane (wall) in the vertical direction.
Perpendicular
to X-Z
Draw a line on either X-Z coordinate plane, and then, along
the line, set a plane (wall) in the vertical direction.
In the functional safety function, the range of motion is
monitored by calculating the coasting values of the
manipulator. For this reason, the manipulator stops just
before exceeding the safety range in case it moves to the
teaching point near the safety range.
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