HW1484764
Safety Precautions
4-5
HW1484764
4.4.2. How to Configure the Tool Change Settings
The tool change monitor function, one of the functional safety functions, monitors the tool file change
status.
The host CPU compares the tool number specified for the functional safety functions and the tool
number set in the condition files specified by the safety signal and, if the manipulator is operating without
the tool numbers matching, detects an error.
Therefore, insert tool change commands before the tool grasps and releases the workpiece, respectively.
An example job is shown below.
This example assumes that the tool information is configured as follows:
Tool 01: Before grasping workpiece, tool mass only
Tool 02: After grasping workpiece, total mass of tool and workpiece
NOP
[...]
01 MOVJ VJ=10 // Workpiece approaching (Tool 01)
02 MOVJ VJ=10 // Tool change (Tool 01 -> Tool 02 in the same position as the previous step*)
DOUT OT#(XX) ON // Grasp the workpiece
02 MOVJ VJ=10 // Raise the workpiece (Tool 02)
02 MOVJ VJ=50 // Transport workpiece (Tool 02)
02 MOVJ VJ=10 // Lower the workpiece (Tool 02)
01 MOVJ VJ=10 // Tool change (Tool 02 -> Tool 01 in the same position as the previous
step*)
DOUT OT#(XX) OFF // Release the workpiece
01 MOVJ V=10 // Workpiece leaving (Tool 01)
[...]
END
Using the "tool change monitor function" requires you to configure the safety signal before tool
change. For more information on the tool change monitor function, refer to
HW1483576 YRC1000 OPTIONS “INSTRUCTIONS FOR FUNCTIONAL SAFETY FUNCTION"
or "HW1484544 YRC1000micro OPTIONS “INSTRUCTIONS FOR FUNCTIONAL SAFETY
FUNCTION” ("4.6 Tool Change Monitor Function").
・ The tool change monitor function is disabled by default. However, be sure to enable it to
implement appropriate safety monitoring. Even if the no tool change occurs, you must enable it
to monitor if the tool file is not changed.
・ After a tool change, the PFL function temporarily stops monitoring the external forces until the
TCP moves 5 mm (with the collaborative operation lamp still lit).
// Workpiece approaching (Tool 01)
// Tool change (Tool 01 -> Tool 02 in the same position as the previous step*)
// Grasp the workpiece
// Raise the workpiece (Tool 02)
// Transport workpiece (Tool 02)
// Lower the workpiece (Tool 02)
// Tool change (Tool 02 -> Tool 01 in the same position as the previous step*)
// Release the workpiece
// Workpiece leaving (Tool 01)
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