4-12165988-1CDHW1481991Safety Board Operation 4 Details of Functional Safety Function4.2 AXIS SPEED MONITOR Function4.2 AXIS SPEED MONITOR Function4.2.1 OutlineAxis speed monitor function is a function which sets the upper limit of thespeed to each axis motion speed for the manipulator, base and stationgroup, and then monitors whether each axis is inside the already-fixedspeed using a software. When “0” is set, it is called stop positionmonitoring. This monitors the axis whether it does not move to exceed thelimit of specified range from the point where the monitoring is started.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 a file. When a control group is set toseveral files, the control group can be monitored by switching conditions.Fig. 4-4: Monitoring of Motion Speed at Each AxisFollow the procedures below when starting the axis speed monitorfunction.1. Set the axis speed monitor condition file.↓2. Start monitoring the axis speed.Monitors each axismotion speed44 of 164
