11 Safety Function
11.7 Setting Example of the Safety Functions
11-114
HW1485509
HW1485509
20. Select the “Virtual Discrete Safety I/O” tab. Choose the MSOUT01
which is connected from FSOUT01 in Safety Logic Circuit.
21. Once you have completed your changes press {READBACK} to
readback the data. Check the readback data is correct, then press
{WRITE} to save your setting.
22. You are now complete and the Robot will reduce the speed while
someone is within specified area.
11.7.4 Reduce the Robot Speed by Robot Position only when Collaborative Operation Mode
For collaborative operation Robot such as HC10, this is an example to use
safety laser scanner to activate the collaborative operation mode when a
person or object is inside the safety laser scanner area. Also, reduce the
Robot speed by the speed limit function when the Robot moves into the
area which is defined by Robot range limit function. However, Robot will
move at high speed even if the Robot is in the specified area when the
Robot is not in collaborative operation mode.
1. Refer to chapter 11.7.2 “Single Safety Laser Scanner to Activate
Collaborative Operation”, and chapter 11.7.3 “Reduce the Robot
Speed by Robot Position”, to complete the setup.
2. In Safety Logic Circuit, add MSOUT54 as AND in the line that output to
MSOUT01.
3. Once you have completed your changes press {READBACK} to
readback the data. Check the readback data is correct, then press
{WRITE} to save your setting.
4. You are now complete and the Robot will reduce the speed while
someone is within specified area only when collaborative operation
mode.
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