YASKAWA YRC1000micro

HW1484764
Configuring Each Function
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HW1484764
3.3.2. Enabling or Disabling Collaborative Operation by Using External Sensor Input
Connecting the safety signal (MS-OUT54; refer to Section 3.3) of the safety logic circuit to the safety
input from an external sensor allows you to enable or disable (muting) manipulator collaborative
operation depending on the external sensor input.
This allows for flexible context-sensitive operations; for example, you can disable collaborative
operation when there is no worker in the vicinity of the manipulator and enable collaborative
operation only when a worker comes in the vicinity of the manipulator.
CAUTION
When switching from collaborative operation disabled (muting) to collaborative operation enabled,
there is a delay of about 1000 ms until the signal input actually switches.
DANGER
・ With collaborative operation disabled, the manipulator may harm workers. Implement sufficient
risk assessment before disabling collaborative operation.
・ Whenever you use a presence detection sensor, ensure the safety distance based on ISO13855.
By factory default, FSBIN01 of the safety logic circuit is connected to MS-OUT54.
If you connect a presence detection sensor to the safety terminal block as shown below, you can
enable or disable collaborative operation depending on the I/O of the presence detection sensor.
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