11 Safety Function
11.4 Functional Safety Functions
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HW1485509
HW1485509
11.4.8 Tool Angle Monitor
The tool angle monitor function is a function that monitors the angle of the
tool by specifying the standard value of manipulator tool tilting angle and
the limit of the tool angle, and then, using the software, monitors whether
the standard value-centered tool angle does not exceed the specified limit
angle. In case the tool file is not specified, it monitors the titling angle of
the flange.
For details on Tool Angle Monitor, refer to “YRC1000 OPTIONS
INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION (HW1483576)
chapter 4.5 Tool Angle Monitor Function”.
To set the Tool Angle Monitor, use of the Software Pendant is required.
For the details on Software pendant, refer to chapter 12 “Software
Pendant”.
11.4.9 Tool Change Monitor
When performing monitoring functions of the safety such as the Robot
range limit function or the speed limit function in the functional safety
function, appropriate tool information is required to be selected. In the
system where the tool change is required, the function safety function
changes the tool number in accordance with the specified value from the
master CPU.
This tool change monitor function monitors whether the tool is
appropriately changed. The monitoring is performed comparing the
master CPU-specified tool number and the tool number which is specified
to a safety signal-specified condition file. It is judged as an abnormality
when a manipulator operates when these numbers are not consistent.
For details on Tool Change Monitor, refer to “YRC1000 OPTIONS
INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION (HW1483576)
chapter 4.6 Tool Change Monitor Function”.
To set the Tool Change Monitor, use of the Software Pendant is required.
For the details on Software pendant, refer to chapter 12.
11.4.10 External Force Monitor
External Force Monitor function suspends the Robot according to the
external force applied to the Robot when the collaborative operation is
enabled.
External Force Monitor function monitors the external force applied to the
manipulator’s TCP and each joint axis. If the external force exceeds the
limitation value that is preset, the Robot stops for protection with a
Category 2 stop. After the manipulator stops, its stopped state is
monitored by the functional safety unit to ensure that there is no motion of
the manipulator. When the collaborative operation is enabled, the
Collaborative Operation LED (green color) lights up.
Also, when the state of stop monitoring is valid, the resume switch (orange
color) which is located below the LED lights up. Press the resume button
to resume manipulator motion from the position at which the manipulator
stopped.
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