11 Safety Function
11.4 Functional Safety Functions
11-74
HW1485509
HW1485509
Enable Condition
Set Enable Condition of the setting.
In order for the change to take effect, it is necessary to complete WRITE.
Action
Select alarm or not alarm to the monitoring result of the setting.
Defined
Specify Enable/Disable for a target axis.
This setting is referred when the setting is enabled and is not referred
when it is disabled.
Followings show the combination of conditions.
Value Description
Always OFF Always disable the monitoring by the setting.
Always ON Always enable the monitoring by the setting.
Signal Change the monitoring state by referring the safety input
signal.
For the details of the safety signal usage, refer to
chapter 11.4 “Functional Safety Functions”.
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,
alarm does not occur, and the s
ervo is not turned OFF
even if a monitoring error has 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 measures to them.
Monitoring Status Defined Result
Enabled Defined
Monitoring for the target axis is
enabled.
Enabled Not Defined X
Monitoring for the target axis is
disabled.
Disabled Defined
Disabled Not Defined
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