YASKAWA EcoTrim ET-1024 System Manual

1-8175932-1CD175932-1CDEcoTrim ET-1024 System 1 Introduction1.2 System Overview• Three button operator station:–Dual channel “Cycle Start” button–Dual channel “E-Stop”–Single channel “Auto/Manual” switch• Functional Safety Unit (FSU):–Responsible for monitoring the MSR rotary table to ensure noexternal motion occurs (via “Standstill monitor” function while thelight curtain is broken.• Omron G7SA Force Guided Relays:–Monitors FSU “At Side A” and “At Side B” outputs to generate drycontact connections for use in the external E-Stop logic.1.2.3.4 Safety Logic Implementation:1. In “Play Mode” and “Teach Mode”, FSU-based “Axis Range Limit”functions generate “At Side A/B” outputs which prevent the MSRpositioner from moving out of “At Side A” or “At Side B” anytime thelight curtain is broken.2. In “Play Mode” the DX200 monitors the “Safety Gates,” closedensuring someone is not accessing the work cell while in “Play Mode”.3. The FSU is not for preventing robot collisions with either the safetyfence or the MSR positioner.1.2.3.5 Functional Safety SetupThe following FSU files are utilized as standard in the EcoTrim-1024 cells:Fig. 1-4(a): “Axis Range Limit” Files Used19 of 64