YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

Contents

YASKAWA DX200 Instructions Manual Manual pdf 102 page image

4-70165988-1CDHW1481991Safety Board Operation 4 Details of Functional Safety Function4.6 Tool Change Monitor Function4.6.3 TOOL CHANGE MONITOR Condition File SettingOn the status list window, select a file number with the cursor, and thenpress [SELECT].A setting window for the selected condition file of the AXIS CHANGEMONITOR function appears.By scrolling down the window with the cursor, all the items can be seen.

In this section, only the items inherent to tool change monitor function areexplained. For the items not mentioned here, refer to section 4.7“Common Setting Item for the Condition File” on page 4-76.1.{TOOL NO.}For confirming the tool number, specify a tool number which is specifiedto the functional safety function, when this file is selected.2. {DETECTION DELAY TIME}Specify a time frame from validating the condition file to start the alarmdetection. It is detected as an error in case a tool change monitorcondition file is selected and one of the following conditions are metafter the time specified in {DETECTION DELAY TIME} is passed.Error judging standard in the tool change monitoring functionError judging condition Stop methodsAll the condition files for one robot group is invalidated The manipulator stops by category “0”.Two or more condition files for one robot group aresimultaneously validatedThe manipulator stops by the stopping method withthe highest priority of the two validated files’stopping method.The manipulator is in operation while a tool numberspecifying value and the tool number specifying value of thevalidated condition files are not consistent.The manipulator stops by the stopping method ofthe validated file stopping method.102 of 164