4 Details of Functional Safety Function4.1 Axis Range Limit Function4-1165988-1CDHW1481991Safety Board Operation4 Details of Functional Safety FunctionIn this chapter, details of the functional safety function are described.4.1 Axis Range Limit Function4.1.1 OutlineAxis range limit function is a function which sets each axis range of motionfor the manipulator, base and station group and monitors whether eachaxis is inside the already-fixed range of motion using a software.This function specifies the upper limit and the lower limit of the range ofmotion to those axes and the range inside the limits is defined as thesafety range.While an axes is in operation, based on the axis motion speed, thisfunction calculates the coasting value in case of the immediate stop by thealarm, and then, including this value, it monitors the safety range. Withthis monitoring operation, the axes would not exceed the safety rangeeven if a motion error is detected.In case an error is detected, the power supply to the motor is stoppedusing the machine safety board (JANCD-YSF21-E). And the error isnotified using an alarm.Thirty two files are prepared to this function and all axes motion range ofany one control group is set to one file. When a control group is set toseveral files, the control group can be monitored by switching conditions.Fig. 4-1: Limit of Motion Range at Each AxisMinimum valueSafety rangeMaximum valueMaximum movable range33 of 164
