11 Safety Function
11.4 Functional Safety Functions
11-75
HW1485509
HW1485509
Min, Max
Values for maximum/minimum range of motion can be input for the
object axis.
As their inputting range, the position value limited by the soft limit switch of
the manipulator can be input.
This value can also be entered by jogging the Robot to the desired limit
position and pressing { }.
Boundary
Displays whether the range of motion of the axis includes or excludes
the maximum value and/or the minimum value.
The maximum value and the minimum value of each axis can be specified
independently. To include the value in the range, displays ≤ (IN). To
exclude the value from the range, displays < (EX).
This is set “≤ (IN)” as default. It can be changed by Software Pendant.
Reset All to Default
Reset all axes min, max value to soft limit. Range limit for all axes will
be disabled (Defined will be unselected).
Setting Activation Signal
Specify the safety input signal for enable the 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.
Signal output as following.
Value Description
Min Expresses the minimum limited range in which an axis
moves.
Max Expresses the maximum limited range in which an axis
moves.
Monitoring
State
Monitoring Result Output
Disabled ---- OFF
Enabled All the axes monitoring is validated are inside
the safety range.
ON
Some of the axes monitoring are validated are
detected to be outside the safety range.
OFF
For some of the axes monitoring are validated,
the stop position to which coastin
g value is
included are detected to be in error status
when moving close to the border of the safety
range.
OFF
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