YASKAWA DX100 Instructions Manual
Also see for MOTOMAN DX100: InstructionsInstruction manualInstructionsInstructionsInstruction manual
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Contents
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1 Function OverviewDX100 1.1 Preface1-1HW0486052HW04860521 Function Overview1.1 PrefaceThis function limits the operating range of the robot and monitors itsspeed.With this function, the software monitors the robot arm or each axis so thatits position does not exceed the preset safety range. If any monitoringerror is detected, the contactors are cut off to stop the robot. With thisfunction, it is possible to improve the safety for robot operation, andreduce the facility space for the robot system.1.2 Function Overview(1) Range limit function (robot axis + servo track / unit)This function is used to monitor the robot so that its position doesnot exceed the preset safety range. Only one safety range can bespecified. The specified range can be applied to the following con-figuration:Robot (6 axes) + servo track (up to 3 axes)orRobot (7 axes) + servo track (up to 2 axes)By the combination of 2 lines of dual input signals (range switchsignals) to the functional safety unit, 4 ranges (range: 1 to range:4) can be set as the safety ranges.To enable range switching, connect the range switch signals to thefunctional safety system input terminal block shown inchapter 2.1.2 “Signal Distribution Board” at page 2-2. Whenrange switching is not used, i.e. only one safety range is set, thereis no need to connect the signals. (In this case, range: 1 is set.)For signal connection, refer to chapter 3.7 “Starting Safety RangeFunction for Robot” at page 3-15.(2) Each axis angle limit function (9 axes/unit)(3) Stop position monitoring function(4) Safety speed monitoring functionThis function monitors the robot to see that it operates at thesafety speed of 250 mm/sec. The speed is monitored at the TCP(Tool Center Point) and flange.• Teach mode (manual high speed specification is OFF)(5) Logical verification of safety signalsThis function detects the unmatch of the dual safety signalsconverted into the functional safety unit.NOTEThe safety speed monitoring function can monitor thespeed of one tool number per robot.The speed of R1 and R2 is monitored using the file with thetool numbers 0 and 1, respectively.9/56 |
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