4 Details of Functional Safety Function4.6 Tool Change Monitor Function4-71165988-1CDHW1481991Safety Board Operation4.6.4 Confirmation of Tool Change MonitorAfter the setting of the condition file and {READ} is pressed, it isnecessary to confirm whether the monitoring is appropriately performedby the specified tool.“CONFIRM” is indicated on the tool change window. “VALID” the file andchange the tool, and then move the object manipulator to confirm whethera alarm occurs.4.6.5 Starting the Tool Change MonitorAfter the tool change is confirmed, press {CONFIRMED} on the window.The tool change monitor function becomes valid.NOTEAn alarm for the tool change monitor function occurs onlywhen the manipulator is in motion. (If it is in stop status,monitoring is still performed but the alarm does not occur.)However, once an alarm occurs, it keeps sounding unlessthe problem is solved even the manipulator stops.NOTEPerform changing the tool file while the manipulator is stopstatus or there may following dangers when it is performedwhile the manipulator is in operating status.• Wrong tool may be selected.• The manipulator motion speed exceeds the speed limit incase the tool before the change and after the changediffers widely.CAUTIONBy a tool change, an monitoring error may be detected in the robotrange limit function due to the change of tool model or TCP. For thisreason, when changing a tool, specify appropriate range of motions forthe object tool.103 of 164
