YASKAWA YRC1000micro

HW1484764
Configuring Each Function
3-6
HW1484764
3.2.2. Configuring the Speed Limit
With collaborative operation enabled, one of the functional safety functions limits the speed.
You can change the speed limit to 250 mm/s or lower by using the following method.
For more information on how to configure the speed limit, refer to
"HW1483576 YRC1000 OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION"
or "HW1484544 YRC1000micro OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY
FUNCTION" ("4.4 Speed Limit Function").
The speed limit condition files No.31 and No.32 are used by factory default. To add an additional
speed limit condition file, use a file number other than No.31 and No.32.
The following example shows how to add the condition to set the TCP speed limit to 100 mm/s:
Item
Setting
File number
One of No.1 to No.30
File valid condition
Signal
Group
R1
Speed limit
100
Detection delay time
1
Input
signal
bit0
MS-OUT53 ON
bit1
-
bit2
-
bit3
-
bit4
-
Output signal
Any
If you want to enable the speed limit when a particular safety signal is input, specify that particular
safety signal in the input signal bit 1 to 4.
WARNING
When configuring the condition files for the functional safety functions, do not edit the file No.31 or
No.32 used for the PFL function by factory default. Doing so could cause collaborative operation to
fail.
By factory default, the TCP speed is limited to 250 mm/s.
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