11 Safety Function
11.4 Functional Safety Functions
11-85
HW1485509
HW1485509
Enable Condition
Set Enable Condition of the setting.
In order for the change to take effect, it is necessary to complete WRITE.
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.
Speed
To each target axis, set the upper limit of motion speed.
When “°/sec” is set as the unit of the speed, “°/sec” is used for a rotating
axis.
When “%” is set as the unit of the speed, calculate and set the upper limit
by considering the maximum speed as 100%. This unit “%” is the same as
the unit of the set value used when the target axis is independently
operated by JointMove Speed=xx%.
Position Tolerance
Specify the position tolerance for the stop position monitoring.
This item can be specified when “0” is set to “Speed”.
Although the stop position monitoring monitors the difference between
the stop position monitoring start position and the present position, to
avoid any alarms from occurring due to tiny motions such as turning ON of
the servo during the monitoring, “Position Tolerance” is specified. An
alarm occurs when {ACCEP.RNG} is set in ± direction from the stop
position monitoring starting position and the axis moves to exceed the
position.
Speed Unit
Specify the unit of speed in the setting.
When “°/sec” is set, “°/sec” is used for a rotating axis.
When “%” is set, percentage is used.
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”.
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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