11 Safety Function
11.4 Functional Safety Functions
11-81
HW1485509
HW1485509
Output Signal
Specify the safety output signal for output the monitoring result.
Signal output as following.
11.4.6.3 Starting the Speed Limit
Specify the speed limit function and press {WRITE}, the speed limit
function will be enabled.
11.4.6.4 Speed Limit in MANUAL (TEACH) Mode
While the MANUAL (TEACH) mode is selected, the speed is monitored at
250 [mm/sec] for safety under the functional safety function. Unlike other
speed limit functions, this monitoring function cannot be disabled.
However, only when the full speed test is input by the external signal and
when the manual brake is released, this monitoring function will be
disabled. This allows the speed can be higher than 250 [mm/sec] even
during the MANUAL (TEACH) mode.
For the full speed test, refer to “YRC1000 INSTRUCTIONS
(RE-CTO-A221) chapter 8.26 Safety Logic Circuit”.
For the manual brake release function, refer to chapter 9.2 “Brake
Release”.
MANUAL (TEACH) mode speed limit is set in No.33 as “MANUAL
(TEACH) Mode Speed Limit”.
Monitoring
State
Monitoring Result Output
Disabled ---- OFF
Enabled Monitored group is normal within the speed
limit.
ON
Monitored group is detected the limited speed
error.
OFF
When using the full speed test or manual brake release
functions, possible risks attributed to the speed limit release
should be sufficiently considered (risk assessment) before
operating the manipulator.
To Next Page
Loading...
