YASKAWA YRC1000micro - Page 27

HW1484764
Configuring Each Function
3-4
HW1484764
2. FILE SET STATUS
Displays the status of the currently selected external force limit file. The status can be one of the
following:
Setting status
Description
SETTING
The file has just been initialized or is being configured.
CONFIRMING
The settings are currently being confirmed after you press the
{WRITE} button.
COMPLETED
This appears once you confirm the external force limit and press
the {CONFIRM} button.
3. FILE VALID COND
Use this field to configure the condition of the currently selected external force limit file. You can set it
to one of the following values:
Value
Description
DISABLE
Disables this external force limit file.
ENABLE
Enables this external force limit file.
SIGNAL
Switches between "ON: Enable" and "OFF: Disable" depending
on the status of the input signal specified in " 7. INPUT SIGNAL"
configured for this external force limit file.
4. CTRL GROUP
Use this field to set the control group to be monitored for the condition file. Select "R1" here.
5. LIMIT (EACH AXIS)
Use these fields to enable/disable monitoring and configure the external force limits (moment [N/m])
for each of the axes used by the control group specified in " 4. CTRL GROUP".
(Valid range: 0 to 100 [N/m])
6. LIMIT (TCP)
Use these fields to enable/disable the monitoring of the forces acting on the TCP of the manipulator
used by the control group specified in " 4. CTRL GROUP" and configure the external force limits [N] in
the cartesian coordinate system.
(Valid range: 0 to 300 [N])
7. INPUT SIGNAL
If "SIGNAL" is selected in " 3. FILE VALID COND", the currently selected external force limit file is
enabled when all the safety input signals configured here turn on.
(Valid input signals: PFLIN1 to 16, valid output signals: PFLOUT1 to 16)
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