YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

Functional safety i/o logic board
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See also: Operator's Manual , User Manual
DX200 OPTIONS
INSTRUCTIONS
FOR FUNCTIONAL SAFETY BOARD OPERATION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR'S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
Revision:
MANUAL NO.
HW1481991
165988-1CD
2
1 of 164
3

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  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN-- INSTRUCTIONS DX200 INSTRUCTIONS DX200 OPERATOR’S MANUAL (for each purpose) DX200 MAINTENANCE MANUAL The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 165988-1CD Revision: MANUAL NO. 1 of 164...
  • Page 2 Copyright © 2015, Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 4 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
  • Page 5 Safety Board Operation Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX200. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous...
  • Page 6 Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning ON the power for the DX200. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
  • Page 7 Read and understand the Explanation of Warning Labels in the DX200 Instructions before operating the manipulator: Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
  • Page 8 Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} • Robot Serial Number Located on the robot data plate • Robot Sales Order Number Located on the DX200 controller data plate viii 8 of 164 HW1481991...

  • Page 9: Table Of Contents

    165988-1CD Safety Board Operation Table of Contents Table of Contents 1 Overview of the Function ........................ 1-1 1.1 Outline ..........................1-1 1.2 List of Safety Functions ..................... 1-1 1.3 Configuration of Setting Files..................... 1-2 2 System Configuration........................2-1 2.1 Outline ..........................2-1 2.1.1 Functional Safety Board ..................
  • Page 10 165988-1CD Safety Board Operation Table of Contents 4.2 AXIS SPEED MONITOR Function................... 4-12 4.2.1 Outline ........................4-12 4.2.2 Axis Speed Monitor Function Window ..............4-13 4.2.3 AXIS SPEED MONITOR Condition File Setting ..........4-15 4.2.4 Start AXIS SPEED MONITOR Operation ............4-16 4.3 Robot Range Limit Function ....................
  • Page 11 165988-1CD Safety Board Operation Table of Contents 5 Safety Signal........................... 5-1 5.1 Safety Fieldbus Signal Allocation ..................5-2 5.2 Safety Function Condition File Setting................5-5 5.3 File Switching to Valid/Invalid by the Safety Signal ............5-7 5.4 Safety Signal Output Value....................5-10 6 Common Settings ...........................
  • Page 12 165988-1CD Safety Board Operation Table of Contents 11.3 Restriction of Operation ....................11-3 11.3.1 Tool Calibration....................11-4 11.3.2 Automatic Measurement of the Tool Load and the Center of Gravity....11-4 11.3.3 Home Position Editing ..................11-4 11.3.4 File/Parameter Loading ..................11-4 12 of 164 HW1481991...

  • Page 13: Overview Of The Function

    165988-1CD Safety Board Operation Overview of the Function 1.1 Outline Overview of the Function Outline Two CPUs installed in the functional safety function independently acquire the manipulator encoder feedback pulse, and, based on this pulse, the functional safety function monitors the manipulator’s position, speed and the posture of its tool.

  • Page 14: Configuration Of Setting Files

    165988-1CD Safety Board Operation Overview of the Function 1.3 Configuration of Setting Files Configuration of Setting Files There are wide range of setting files for the functional safety function. However, most of them are listed up in {SAFETY FUNC.} menu in the programming pendant top menu.

  • Page 15: System Configuration

    System Configuration 2.1 Outline System Configuration Outline To utilize this function in the DX200 system, “functional safety board”, “functional safety I/O logic board”, and “functional safety terminal block board” are added. 2.1.1 Functional Safety Board Main specification of “functional safety board” is descried as below. It corresponds to one servo board (SRDA-EAXA21) because “functional...

  • Page 16: Functional Safety I/O Logic Board

    165988-1CD Safety Board Operation System Configuration 2.1 Outline 2.1.2 Functional Safety I/O Logic Board The “functional safety I/O logic board” is a board to receive/transmit the safety I/O signal used in the functional safety function. Following is the type and main specifications of the “functional safety I/O logic board”.

  • Page 17: Functional Safety Terminal Block Board

    165988-1CD Safety Board Operation System Configuration 2.1 Outline 2.1.3 Functional Safety Terminal Block Board Safety signals are connected to the “functional safety terminal block board”. Following is the type and main specifications of the “functional safety terminal station board Item Specification Unit type JANCD-YFC24-E...
  • Page 18 165988-1CD Safety Board Operation System Configuration 2.1 Outline Following table shows details of the connection terminal. Table 2-1: JANCD-YFC24-E Details for the Connection Terminal (Sheet 1 of 2) Signal Name Connection No. Dual Signal Function Factory Setting ○ XIN1_1+ Functional Safety Open XIN1_1- Universal Input 1...
  • Page 19 165988-1CD Safety Board Operation System Configuration 2.1 Outline Table 2-1: JANCD-YFC24-E Details for the Connection Terminal (Sheet 2 of 2) Signal Name Connection No. Dual Signal Function Factory Setting ○ XIN5_1+ Functional Safety Open XIN5_1- Universal Input 5 (Corresponding FSBIN05) XIN5_2+ XIN5_2- ○...

  • Page 20: Wiring Procedure Of The Terminal Block

    165988-1CD Safety Board Operation System Configuration 2.1 Outline 2.1.4 Wiring Procedure of the Terminal Block For your safety, appropriate work must be done by following the instructions below.  Tool: Screwdriver For the connection, be sure to use a screwdriver of an applicable size and configuration.
  • Page 21 165988-1CD Safety Board Operation System Configuration 2.1 Outline Wire Connection  Terminal block:screwless clamp terminal WAGO series 250 1. Place the screwdriver on the lever upright as shown in the figure above and push it straight down. 2. Insert the wire into the connection hole slowly until its leading end touches the end of the hole.

  • Page 22: Functional Safety Universal Input Signal 1-8

    165988-1CD Safety Board Operation System Configuration 2.1 Outline 2.1.5 Functional Safety Universal Input Signal 1-8 When opening this connection terminal, corresponding FSBIN turns ON(1). When short circuiting this connection terminal, corresponding FSBIN turns OFF(0). For safety reasons, dual circuits are used for the functional safety universal input signals.

  • Page 23: Functional Safety Universal Output Signal 1-8

    It may cause the damage on the output circuit. • The feedback signal must be input to the DX200 when using the functional safety universal output signal. The functional safety universal output signal is output as the SUPPLE- dual signals.

  • Page 24: Functional Safety Universal Output Feedback Signal 1-8

    165988-1CD Safety Board Operation System Configuration 2.1 Outline 2.1.7 Functional Safety Universal Output Feedback Signal 1-8 This connection terminal inputs the status of the driven devices by the functional safety universal output signal as the feedback signal. When opening this connection terminal, corresponding feedback signal turns ON(1).

  • Page 25: Board Arrangement

    I/O logic board, and functional safety terminal block board when they are mounted on the DX200.  Arrangement of the Functional Safety Board Fig. 2-7: Arrangement of the Functional Safety Board (DX200 Front View) Functional safety circuit board JANCD-YSF25-E 2-11...
  • Page 26 Safety Board Operation System Configuration 2.2 Board Arrangement Arrangement of the Functional Safety I/O Logic board  Fig. 2-8: Arrangement of the Functional Safety I/O Logic board (DX200 Back View) Functional safety I/O logic circuit board JANCD-YSF24-E  Arrangement of the Functional Safety Terminal Block Board Fig.

  • Page 27: System Configuration For Dual-Arm Manipulator

    165988-1CD Safety Board Operation System Configuration 2.3 System Configuration for Dual-Arm Manipulator System Configuration for Dual-Arm Manipulator Like dual-arm manipulator (SDA model) system, a system where the robot group (arm) and the base group (base) exist separately and individually arranged on the different servo board exists. In this system, for the safety monitoring, the encoder feedback pulse information of the axis which does not exist in its own station should be acquired from other servo station.

  • Page 28: Common Operation

    165988-1CD Safety Board Operation Common Operation 3.1 Security when Using this Function Common Operation Common operations when using the functional safety function are described in this chapter. Security when Using this Function When using the functional safety function, settings of the condition file for this function is necessary.
  • Page 29 165988-1CD Safety Board Operation Common Operation 3.1 Security when Using this Function 3. Change the mode from {EDITING MODE} to {SAFETY MODE}. – Press [SELECT], move the cursor to {SAFETY MODE}, and press [SELECT] again. 4. Input a password for {SAFETY MODE}, and then press [ENTER]. –...

  • Page 30: Read-Back Operation

    165988-1CD Safety Board Operation Common Operation 3.2 Read-Back Operation Read-Back Operation When the functional safety function is valid, a read-back window as shown below is displayed in case data is modified on the condition file setting window or on the tool file window of the functional safety window. 1.
  • Page 31 165988-1CD Safety Board Operation Common Operation 3.2 Read-Back Operation {WRITE} Memorizes the object files specified to the functional safety board. {CANCEL} : Deletes the set value specified to the functional safety board and back to the previous settings. When more than two setting values are changed, the read-back window appears same time as changed times.

  • Page 32: External Memory Device (Saving/Loading)

    165988-1CD Safety Board Operation Common Operation 3.3 External Memory Device (Saving/Loading) External Memory Device (Saving/Loading) The functional safety function-relevant files can be saved/loaded to/from external memory devices. Saving of the files can be performed in any security modes whereas loading is available only when the security mode is in the safety mode. File Security for loading AXIS RANGE LIMIT DATA...

  • Page 33: Details Of Functional Safety Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function Details of Functional Safety Function In this chapter, details of the functional safety function are described. Axis Range Limit Function 4.1.1 Outline Axis range limit function is a function which sets each axis range of motion for the manipulator, base and station group and monitors whether each axis is inside the already-fixed range of motion using a software.
  • Page 34 165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function Follow the procedures below when starting the axis range limit function. 1. Set the coasting value. (Before using this function, set the coasting value by following the procedures described in 6.2 in case the base axis or the station axis exits in the system.) ↓...

  • Page 35: Axis Range Limit Function Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 4.1.2 Axis Range Limit Function Window Followings are the setting procedures for the axis range limit function. 1. Change the mode to the security mode, and then press {SAFETY FUNC.} under the main menu.
  • Page 36 165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function <Details of the Window > 1. {FUCTION DISABLE MODE} Valid/invalid the axis range limit function. When “ON” is selected, this function becomes invalid temporarily. Value Meaning The axis range limit function is valid.

  • Page 37: Axis Range Limit Condition File Setting

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 4.1.3 AXIS RANGE LIMIT Condition File Setting On the status list window, select a file number with the cursor, and then press [SELECT]. – A setting window for the selected condition file of the axis range limit function appears.
  • Page 38 165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 3.{MAX}, {MIN} Values for maximum/minimum range of motion can be input for the object axis. As their inputting range, with the axis’s home position defined as 0, the position value limited by the soft limit switch of the manipulator can be input.

  • Page 39: Confirming Method Of Each Axis Operating Angle

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 4.1.4 Confirming Method of Each Axis Operating Angle Each axis angle information can be confirmed on the CURRENT POSITION window. Follow the procedures below when confirming the manipulator’s present angle.
  • Page 40 165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 3. Set “VALID” to {ALL AXES ANGLE DISP FUNCTION}. 4. Press {ROBOT} under the main menu. 40 of 164 HW1481991...
  • Page 41 165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 5. Press {CURRENT POSITION} in the sub menu. – CURRENT POSITION window opens. 6. While CURRENT POSITION window is appeared, press {DISPLAY} tab at the upper left side of the window. 41 of 164 HW1481991...

  • Page 42: Confirmation Of Safety Range

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function 7. Press {ABSOLUTE ANGLE} in the list under the {DISPLAY} tab. – On {CURRENT POSITION} window, absolute angles of the axes which exist in the present system is displayed. 4.1.5 Confirmation of Safety Range Confirmation of the monitoring operation to be appropriately performed inside the specified safety range is required after values are set to both...

  • Page 43: Start Axis Range Limit Operation

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.1 Axis Range Limit Function In the functional safety function, the range of motion is monitored by calculating the coasting values of the manipulator or the external axis. (Refer to section 6.2 NOTE “External Axis Coasting Value Setting”...

  • Page 44: Axis Speed Monitor Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.2 AXIS SPEED MONITOR Function AXIS SPEED MONITOR Function 4.2.1 Outline Axis speed monitor function is a function which sets the upper limit of the speed to each axis motion speed for the manipulator, base and station group, and then monitors whether each axis is inside the already-fixed speed using a software.

  • Page 45: Axis Speed Monitor Function Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.2 AXIS SPEED MONITOR Function 4.2.2 Axis Speed Monitor Function Window Followings are the setting procedures for the axis speed monitor function. 1. Change the mode to the security mode, and then press {SAFETY FUNC.} under the main menu.
  • Page 46 165988-1CD Safety Board Operation Details of Functional Safety Function 4.2 AXIS SPEED MONITOR Function Followings are the details of the item on the window. <Details of the Window > 1.{FILE} The number of the condition file is displayed. Move the cursor to any number and press [SELECT]. The individual setting window for the selected condition file appears.

  • Page 47: Axis Speed Monitor Condition File Setting

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.2 AXIS SPEED MONITOR Function 4.2.3 AXIS SPEED MONITOR Condition File Setting On the status list window, select a file number with the cursor, and then press [SELECT]. A setting window for the selected condition file of the axis speed monitor function appears.

  • Page 48: Start Axis Speed Monitor Operation

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.2 AXIS SPEED MONITOR Function 3.{SPEED} To each object axis, set the upper limit of motion speed. When the axis is a rotating axis, it is measured in [deg/sec], and is [mm/sec] when the axis is a direct acting axis.

  • Page 49: Robot Range Limit Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Robot Range Limit Function 4.3.1 Outline The robot range limit function is a function which carries out following monitoring using software. 1. Define the manipulator’s range of motion with polygonal prism or cuboid, and then monitors the manipulator arm or its tool to be inside the range of motion.
  • Page 50 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function <Outside the range monitoring> The manipulator’s range of motion can be defined using the prism with triangular prism and quadrangular prism. The space outside the prism is defined as the safety range.
  • Page 51 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function While a manipulator is in operation, based on the manipulator motion speed, this function calculates the coasting value in case of the immediate stop by the alarm, and then, including this value, this function monitors the safety range.

  • Page 52: Robot Range Limit Function Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.2 Robot Range Limit Function Window Followings are the setting procedures for the axis range limit function. 1. Change the mode to the security mode, and then press {SAFETY FUNC.} under the main menu.
  • Page 53 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Followings are the details of the item on the window. <Details of the Window > 1. {FUCTION DISABLE MODE} Valid/invalid the robot range limit function. When “ON” is selected, the condition files of the thirty two files of this function can be set to invalid temporarily.
  • Page 54 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 6. {CPU LOAD} The robot range limit function can, to some extent, freely define the shape as its range of motion. However, the time period needed for processing the monitoring varies depending on the shape or the method of monitoring.

  • Page 55: Robot Range Limit Function Condition File Setting Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.3 Robot Range Limit Function Condition File Setting Window On the status list window, select a file number with the cursor, and then press [SELECT]. A setting window for the selected condition file of the ROBOT RANGE LIMIT function appears.
  • Page 56 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Fig. 4-8: Image of Robot Limit Range: Pattern A Point1 Point2 Point6 Point3 Point5 Z Upper Point4 Z Lower <Details of the Window > In this section, only the items inherent to robot range limit functions are explained.
  • Page 57 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Setting Example of Coordinate “Robot” : When setting the area shown in Fig. 4-9 “Area Setting (Robot)”. Fig. 4-9: Area Setting (Robot) For the area 1, as shown in Fig. 4-10 “Example of Condition File Setting (R1: Robot )”, select R1 to CTRL GROUP and ROBOT to COORD.
  • Page 58 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function When setting a position to a POINT, confirm the position following the procedures below. → 1. Select {ROBOT} {CURRENT POSITION} under the main menu. – The CURRENT POSITION window appears. 2.
  • Page 59 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Setting Example of Coordinate “Base” : When setting the area shown in Fig. 4-12 “Area Setting (Base)”. Fig. 4-12: Area Setting (Base) For the area 3, as shown in Fig. 4-13 “Example of Condition File Setting (R1: Base )”, select R1 to CTRL GROUP and ROBOT to COORD.
  • Page 60 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function When setting a position to a POINT, confirm the position following the procedures below. → 1. Select {ROBOT} {CURRENT POSITION} under the main menu. – The CURRENT POSITION window appears. 2.
  • Page 61 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 3. {SHAPE TYPE} Specify the creating method of the monitoring area. If either Plane (X-Y), Plane (Y-Z) or Plane (X-Z) is set to {MONITOR TARGET}, this item is invalid. Value Method PRISM...
  • Page 62 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Pattern B  Following is the pattern B of the indication of condition file setting window. By scrolling down the window with the cursor, all the indication can be seen.
  • Page 63 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function <Details of the Window > ■ Please refer to “Pattern A” on page 4-23 or section 4.7 “Common Setting Item for the Condition File” on page 4-76 for the items not ■...
  • Page 64 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Fig. 4-16: Image of Robot Limit Range: Pattern C (Area inside dotted line is non-safety area) POINT 1 POINT 2 X-Y plane POINT 1 POINT 2 POINT 2 X-Z plane Y-Z plane...

  • Page 65: Confirmation Of The Safety Range

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.4 Confirmation of the Safety Range After the safety range is specified and {READ} is pressed, it is necessary to confirm whether the monitoring is appropriately performed inside the range.
  • Page 66 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function <Confirm Safety Range with Jog Operation> With the jog operation, confirm whether the specified safety range is appropriate. ○ Inside the range monitoring Move the manipulator inside the specified four walls and check that it stops just in front of the wall.
  • Page 67 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function ○ Planar interference monitoring To the specified plane, make the manipulator approach to it. Confirm that the manipulator stops at any three points on the plane. Fig.

  • Page 68: Starting The Robot Range Limit

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.5 Starting the ROBOT RANGE LIMIT After the manipulator is confirmed that it moves to its robot range limit, press {CONFIRMED} on the window. The robot range limit function becomes valid.

  • Page 69: Switch The Monitoring Area

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.6 Switch the Monitoring Area When switching the monitoring area using the safety signal input, execute the switching operation after moving the manipulator to be inside the next monitoring area and stopping it completely.
  • Page 70 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Inside the monitoring area + Inside the monitoring area Fig. 4-22: Simultaneous Monitoring: Multiple Areas (Inside the Monitoring Area + Inside the Monitoring Area) Inside the monitoring area + Outside the monitoring area Fig.

  • Page 71: Safety Range And Manipulator Position

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.7 Safety Range and Manipulator Position On the operation area monitor window, the specified safety range and the manipulator’s present position can be roughly depicted on the programming pendant screen so that their position relation can be confirmed.
  • Page 72 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 2. Press {OPERATION AREA MONITOR} in the sub menu. – OPERATION AREA MONITOR window appears. <Details of the Window > A. Plane {X-Y}, {Y-Z}, {X-Z} The plane shown on the window now. The manipulator and its tool are depicted in the approximate model shape specified set to the robot parameter and to the tool interference file.
  • Page 73 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function E. {Monitor} Monitoring method for the safety range shown on the window is indicated.. Value Meaning Inside Perform the inside range monitoring Outside Perform the outside range monitoring Plane (X-Y) Perform the plane interference monitoring Plane (Y-Z)
  • Page 74 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function <Details of the Plane on the Window > ○ Example of X-Y plane (Indication of Y-Z and X-Z are also the same when monitoring the plane.) On the X-Y plane, the safety range is shown as the white area and not safety area is shown as brown area.
  • Page 75 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function Each Y-Z and X-Z plane indicates the side of the safety area. On the Y-Z and X-Z planes, only the “wall” looked in the short from the view point is indicated.

  • Page 76: Proximity Warning Buzzer Setting

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.8 Proximity Warning Buzzer Setting A warning buzzer sounds and a message “Approaching the non safety area” when the manipulator approaches a certain distance to the boundary of the non safety area.
  • Page 77 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 3. Press {UTILITY} → {APPR WARNING BUZZER}. – APPROACH WARNING BUZZER window appears. <Details of the Window > 1. {BUZZER DIST.} Specify a manipulator approaching distance to sound a buzzer. Unit: [mm] 2.

  • Page 78: Combining Function Of Multiple Monitoring Areas

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 4.3.9 Combining Function of Multiple Monitoring Areas This function creates a new monitoring areas by combining two already- specified monitoring areas. Follow the procedures below for this operation. 1.
  • Page 79 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 3. Press {UTILITY} → {RANGE COMBINATION}. – RANGE COMBINATION window appears. <Details of the Window > 1. {INPUT FILE1}, {INPUT FILE2} Specify the file number of the range to combine. Value Content Range 1 to 32 Select the number of the range to be input from 1 to 32.
  • Page 80 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function ○ Combination with “AND” The overlapped area by the combination of two safety areas is created as a new monitoring area. Fig. 4-24: Image: Combined Area with “AND” First area Second area Combined area...
  • Page 81 165988-1CD Safety Board Operation Details of Functional Safety Function 4.3 Robot Range Limit Function 3. {OUTPUT FILE} Specify the file number of the combined area. For the file number to be output, choose a file to which the monitoring operation is set invalid because the file number is overwritten. In case choosing a file to which the monitoring operation is set valid, an error occurs.

  • Page 82: Speed Limit Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function Speed Limit Function 4.4.1 Outline Speed limit function is a function which sets the upper limit of the robot group control point (TCP: Tool Center Point) speed and flange center point (FCP) speed, and then monitors whether the speed at each point dose not exceed the already-fixed speed using a software.
  • Page 83 165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function Fig. 4-27: Outline of Speed Limit Function Speed Detection Delay Time Reference Speed Limit Alarm Detection Speed Period Time Condition File Condition File Enable Disable Thirty two files are prepared to this function and all axes motion range of any one control group is set to a file.

  • Page 84: Speed Limit Function Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function 4.4.2 Speed Limit Function Window Followings are the setting procedures for the axis range limit function. 1. Change the mode to the security mode, and then press {SAFETY FUNC.} under the main menu.
  • Page 85 165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function <Details of the Window > 1. {TEACH STANDARD} Move the cursor to this item and press {SELECT] to display the list of speed limit for the teach mode. 2.

  • Page 86: Speed Limit Function Condition File Setting Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function 4.4.3 Speed Limit Function Condition File Setting Window 1. On the status list window, select a file number with the cursor, and then press [SELECT]. – The individual setting window for the speed limit function opens. The display on the window varies which group is to be monitored;...

  • Page 87: Starting The Speed Limit

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function <Details of the Window > In this section, only the items to the axis range limit are explained. For the items not mentioned here, please refer to section 4.7 “Common Setting Item for the Condition File”...

  • Page 88: Speed Limit In Teach Mode

    For the full speed test, refer to section 14.6.4 “Full-Speed Test” in the “DX200 INSTRUCTIONS” (165292-1CD). For releasing the manual brake function, refer to “DX200 OPTIONS INSTRUCTIONS FOR MANUAL BRAKE RELEASE FUNCTION” (165310-1CD). When using the full speed test or manual brake release...
  • Page 89 165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function The condition file setting window for the speed limit function in the teaching mode opens by the following procedures. 1. Change the security mode to safety mode and then, press {SAFETY FUNC.} under the main menu.
  • Page 90 165988-1CD Safety Board Operation Details of Functional Safety Function 4.4 Speed Limit Function 3. Press {TEACH STANDARD} – A list of condition file of the teach mode speed limit appears.. <Details of the Window > 1. {LIMIT SPEED} It is fixed to 250 [mm/sec] and not modified. 2.

  • Page 91: Tool Angle Monitor Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function TOOL ANGLE MONITOR Function 4.5.1 Outline The tool angle monitor function is a function that monitors the angle of the tool by specifying the standard value of manipulator tool tilting angle and the limit of the tool angle, and then, using the software, monitors whether the standard value-centered tool angle does not exceed the specified limit angle.

  • Page 92: Tool Angle Monitor Function Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function 4.5.2 Tool Angle Monitor Function Window Followings are the setting procedures for the tool angle monitor function. 1. Change the mode to the security mode, and then press {SAFETY FUNC.} under the main menu.
  • Page 93 165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function <Details of the Window > 1. {FUNCTION DISABLE MODE} Specify ON/OFF of the tool angle monitor function. When ON is set to this item, this function can be temporarily invalidated. Value Meaning monitor...

  • Page 94: Tool Angle Monitor Condition File Setting

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function 4.5.3 TOOL ANGLE MONITOR Condition File Setting 1. On the status list window, select a file number with the cursor, and then press [SELECT]. – A setting window for the selected condition file of the axis range monitor function appears.
  • Page 95 165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function <Details of the Window > In this section, only the items inherent to the tool angle monitor function are explained. For the items not mentioned here, please refer to section 4.7 “Common Setting Item for the Condition File”...
  • Page 96 4. In the system where more than two tools are used, select tools when the monitoring is performed. ( For the details, refer to section 2.3.4.1 in the “DX200 OPERATOR’S MANUAL”. 5. Move the manipulator to be in the reference posture.
  • Page 97 165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function 2. {LIMIT ANGLE} Regard the REF.ANGLE-centered tool angle, which is the object of monitoring, comprises of an appraising vector of the reference angle and the present tool angle. The approaching vector is indicated in the following ways.

  • Page 98: Confirmation Of Tool Angle Limit Monitor

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.5 TOOL ANGLE MONITOR Function 4.5.4 Confirmation of TOOL ANGLE LIMIT MONITOR After the tool angle monitor is specified and {READ} is pressed, it is necessary to confirm whether the monitoring is appropriately performed inside the specified angle.

  • Page 99: Tool Change Monitor Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function Tool Change Monitor Function 4.6.1 Outline When performing monitoring functions of the safety such as the robot range limit function or the speed limit function in the functional safety function, appropriate tool information is required to be selected.

  • Page 100: Tool Change Monitor Function Window

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 4.6.2 Tool Change Monitor Function Window Followings are the setting procedures for the tool angle monitor function. 1. Change mode to security mode, and then press {SAFETY FUNC.} under the main menu.
  • Page 101 Setting” on page 6-1. 2. {GROUP} The robot group to be specified by the condition file us selected from R1 to R8 (however, only the groups set to the DX200). 3. {FILE} The number of the individual condition file is displayed.

  • Page 102: Tool Change Monitor Condition File Setting

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 4.6.3 TOOL CHANGE MONITOR Condition File Setting On the status list window, select a file number with the cursor, and then press [SELECT]. A setting window for the selected condition file of the AXIS CHANGE MONITOR function appears.

  • Page 103: Confirmation Of Tool Change Monitor

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 4.6.4 Confirmation of Tool Change Monitor After the setting of the condition file and {READ} is pressed, it is necessary to confirm whether the monitoring is appropriately performed by the specified tool.

  • Page 104: When Using The Tool Change Monitor Function

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 4.6.6 When Using the Tool Change Monitor Function When using the tool change monitor function, this function should be validated in the maintenance mode. Follow the procedures below. 1.
  • Page 105 165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 3. Select {OPTION FUNCTION}, {Functional Safety} and “DETAIL”. – SAFETY FUNCTION window appears. 4. Change to set “USED” for the item at {Tool Change Monitor}. 4-73 105 of 164 HW1481991...
  • Page 106 165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 5. Press [ENTER], and a dialog box asking “Modify?” appears. – Select “YES”. 6. Press {FILE} under the main menu. And then, press {INITIALIZE} in the sub menu. –...
  • Page 107 165988-1CD Safety Board Operation Details of Functional Safety Function 4.6 Tool Change Monitor Function 7. Move the cursor and select “Functional Safety Board FLASH Reset” on the window. 8. Select “YES” when a window shown appears. – Data of the functional safety board is reset. When resetting is completed, a buzzer sounds in a few seconds.

  • Page 108: Common Setting Item For The Condition File

    165988-1CD Safety Board Operation Details of Functional Safety Function 4.7 Common Setting Item for the Condition File Following alarm occurs at the first start-up and operation of the manipulator after validating the tool change function because all the tool change condition files are not specified yet. “Alarm 4789: F-SAFE TOOL CHANGE MONITOR ERR”...
  • Page 109 165988-1CD Safety Board Operation Details of Functional Safety Function 4.7 Common Setting Item for the Condition File <Details of the Window > 1.{COMMENT} The comment input is displayed. 2. {FILE SET STATUS} Status of the present condition file Value Meaning SETTING The condition file is in the initial status or in the updating status.
  • Page 110 165988-1CD Safety Board Operation Details of Functional Safety Function 4.7 Common Setting Item for the Condition File 4. {ALARM} Select alarm or not alarm to the monitoring result of the object file. Value Meaning Servo is turned OFF with an alarm when an error occurs under the (MOVE object file monitoring condition.

  • Page 111: Safety Signal

    165988-1CD Safety Board Operation Safety Signal Safety Signal For the functional safety function, the safety monitoring condition files can be switched by the safety input signal. Also, this function corresponds the outputting of the monitoring result by the safety output signal. Followings are the safety signal available for the functional safety function.

  • Page 112: Safety Fieldbus Signal Allocation

    165988-1CD Safety Board Operation Safety Signal 5.1 Safety Fieldbus Signal Allocation Safety Fieldbus Signal Allocation The safety fieldbus function is not a functional safety function but an optional function. When it is valid, the safety fieldbus signal can be used in the functional safety function.
  • Page 113 165988-1CD Safety Board Operation Safety Signal 5.1 Safety Fieldbus Signal Allocation ○ Allocation of input signal ○ Allocation of output signal 113 of 164 HW1481991...
  • Page 114 165988-1CD Safety Board Operation Safety Signal 5.1 Safety Fieldbus Signal Allocation <Details of the Window > 1. {INPUT SIGNAL}, {INPUT SIGNAL} Indicates the input or output signal. 2. {UNIT} The board where the safety fieldbus input signal is to be used are selected from the following (a) to (d), and that of output signal is selected from the following (a) to (c).

  • Page 115: Safety Function Condition File Setting

    165988-1CD Safety Board Operation Safety Signal 5.2 Safety Function Condition File Setting Safety Function Condition File Setting A window for setting signals are prepared to all the condition files. Axis range limit function window is shown below as an example of signal setting window.
  • Page 116 165988-1CD Safety Board Operation Safety Signal 5.2 Safety Function Condition File Setting 3. {STATUS} The present input value of the signal input at {INPUT SIGNAL}. Value Meanings ○ INPUT The present input value of the signal set at { SIGNAL } is OFF.

  • Page 117: File Switching To Valid/Invalid By The Safety Signal

    165988-1CD Safety Board Operation Safety Signal 5.3 File Switching to Valid/Invalid by the Safety Signal File Switching to Valid/Invalid by the Safety Signal Judging method for switching the condition file using the safety input signal is explained here. Fig. 5-1: Signal Setting Window The input signal is judged line-by line.
  • Page 118 165988-1CD Safety Board Operation Safety Signal 5.3 File Switching to Valid/Invalid by the Safety Signal There can be a time difference after the first signal and before the last signal. In the functional safety function, an interval of 32 [ms] is equipped to the system to be totally switched to internally settled after the last signal change.
  • Page 119 165988-1CD Safety Board Operation Safety Signal 5.3 File Switching to Valid/Invalid by the Safety Signal Pattern 2: When switching one file using more than two signals Select one file out of several files. Many files can be managed with less signals. This pattern is effective when simultaneous monitoring is not necessary.

  • Page 120: Safety Signal Output Value

    165988-1CD Safety Board Operation Safety Signal 5.4 Safety Signal Output Value Safety Signal Output Value The output signal outputs the status of safety or not safety over the monitoring conditions when the object condition file is validated. Followings show the meanings of output result for each safety function. Basically, output signal ON is defined as safety side and OFF is defined as not safety side in preparation for the disconnection of the hard signals, etc.
  • Page 121 165988-1CD Safety Board Operation Safety Signal 5.4 Safety Signal Output Value Robot range limit function Object file status Monitoring result Output value Invalid Valid Object manipulator or tool is inside the safety range. Object manipulator or tool is detected to be outside the safety range For the object manipulator or tool, the stop position to which coasting value is included are detected to be in error status...

  • Page 122: Common Settings

    165988-1CD Safety Board Operation Common Settings 6.1 Function Disable Mode Function Setting 6 Common Settings Function Disable Mode Function Setting When this function is used, all the object condition files of the safety monitoring function (32 files) can be set invalid. ○...
  • Page 123 165988-1CD Safety Board Operation Common Settings 6.1 Function Disable Mode Function Setting The function disable mode function can be specified on the list of status window. The axis range limit function window is used as an example of settings. Set “ON” to {FUNCTION DISABLE MODE}. The window changes as below to show that the function is temporarily disabled.
  • Page 124 165988-1CD Safety Board Operation Common Settings 6.1 Function Disable Mode Function Setting Also, in the message area at the lower right of the window, a message showing that the object function is being temporarily disabled appears. <Message> “Axis range limit function is temporarily disable” “Robot range limit function is temporarily disable”...

  • Page 125: Restrictions While Function Disable Mode Function Is Valid

    165988-1CD Safety Board Operation Common Settings 6.1 Function Disable Mode Function Setting 6.1.1 Restrictions while Function Disable Mode Function is Valid Restrictions are set to the following operations while the function disable mode function is validated because this function also invalids monitoring operations.

  • Page 126: Security Level Setting For Function Disable Mode

    165988-1CD Safety Board Operation Common Settings 6.1 Function Disable Mode Function Setting 6.1.2 Security Level Setting for Function Disable Mode For the functions in which the function disable mode exists, the security level to use this mode can be selected. Open the function disable mode setting window by the following procedures.
  • Page 127 165988-1CD Safety Board Operation Common Settings 6.1 Function Disable Mode Function Setting <Details of the Window > {FUNC DISABLE MODE SECURITY (FSU)} Value Meaning EDITING Switching of {FUNCTION DISABLE MODE} is permitted in the MODE editing or higher mode. MANAGEMENT Switching of {FUNCTION DISABLE MODE} is permitted in the MODE management or higher mode.

  • Page 128: External Axis Coasting Value Setting

    165988-1CD Safety Board Operation Common Settings 6.2 External Axis Coasting Value Setting External Axis Coasting Value Setting This setting can be referred by the following safety functions. When using ○ the safety function marked with in the following table, an advanced setting is required.
  • Page 129 165988-1CD Safety Board Operation Common Settings 6.2 External Axis Coasting Value Setting <Error message> “Error 0384: Coasting value setting of Ex-axis is not completed” Following error code is returned when executing the data transmission, the starting system command by the high-speed Ethernet server or the play back operations from the programming pendant customization function or Motoplus before setting of the coasting value is not completed.
  • Page 130 165988-1CD Safety Board Operation Common Settings 6.2 External Axis Coasting Value Setting 2. Press {COASTING VALUE SETTING} in the sub menu. – COASTING VALUE SETTING window appears. – When several external axes exist, press [PAGE] to alternate the external axes. <Details of the Window >...

  • Page 131: Tool File Setting

    Tool angle monitor function Tool change monitor function The tool file should be appropriately specified for the precise monitoring of the safety function. Refer to section 8.3 “Tool Data Setting” in the “DX200 INSTRUCTIONS (165292-1CD) for the firm settings. 6-10 131 of 164...

  • Page 132: Tool Interference File Setting

    165988-1CD Safety Board Operation Common Settings 6.4 Tool Interference File Setting Tool Interference File Setting This setting can be referred by the following safety functions. When using ○ the safety function marked with in the following table, an advanced setting is required. Function Reference Axis range limit function...
  • Page 133 165988-1CD Safety Board Operation Common Settings 6.4 Tool Interference File Setting 2. Select {TOOL INTERFERE} under the sub menu. – TOOL INTERFERE window appears. <Details of the Window > 1. {1} to {5} Cylinders and spheres for up to 5 positions can be set. 2.
  • Page 134 165988-1CD Safety Board Operation Common Settings 6.4 Tool Interference File Setting <Tool interference file setting example> Fig. 6-1: Tool Interference File Setting Example Robot Model 2 Point 1 Tool coodinate origin (flange surface) Model 1 Point 1 Model 1 Point 2 Tool Model 3 Point 1...
  • Page 135 165988-1CD Safety Board Operation Common Settings 6.4 Tool Interference File Setting Model 1: Set the flange surface to Point 1, and (X=140, Z=85) to Point 2. Model 2: Set (X=140, Z=-30) to Point 1, and (X=140, Z=250) to Point 2. This setting defines a model that is parallel to the Z direction of the tool coordinates.

  • Page 136: Security Level Setting For Tool File And Tool Interference Files

    165988-1CD Safety Board Operation Common Settings 6.5 Security Level Setting for Tool File and Tool Interference Files Security Level Setting for Tool File and Tool Interference Files In the system where the functional safety function is not used, both tool file and tool interference files can be operated in the edit or higher mode.
  • Page 137 165988-1CD Safety Board Operation Common Settings 6.5 Security Level Setting for Tool File and Tool Interference Files <Details of the Window > {TOOL (INTF)FILE OPE SECURITY (FSU)} Value Meaning EDITING Operation of the tool file and tool interference file is permitted in the MODE editing or higher mode.

  • Page 138: Data Protection

    165988-1CD Safety Board Operation Data Protection 7.1 Saving Dual Data Data Protection Saving Dual Data The data related to the functional safety function is saved in the function safety board memory in a duplicated manner for safety. When the control power is turned ON, check is performed to see that dual data sets are the same.

  • Page 139: Flash Data Reset

    165988-1CD Safety Board Operation Data Protection 7.2 FLASH Data Reset FLASH Data Reset If the following alarm occurs when the control power supply is turned ON, Alarm 0300: “VERIFY ERROR(SYSTEM CONFIG-DATA)[10]” perform the following operations to re-set the data of the function safety board.
  • Page 140 165988-1CD Safety Board Operation Data Protection 7.2 FLASH Data Reset 4. Move the cursor to {Functional Safety Board FLASH Reset} and press [ENTER]. 5. The dialog box “Reset?” is displayed. Select [YES]. – The data of the safety function board is re-set. A few seconds later, the buzzer sounds and the data setting is completed.

  • Page 141: Led Indication

    165988-1CD Safety Board Operation LED Indication LED Indication As shown in the figure below, 4 LEDs are equipped to each of the 2 CPUs on the functional safety board. The LEDs show the operating statuses. Fig. 8-1: LED Arrangement System statuses and LED indications are shown below. Status LED indication Right after applying the power...

  • Page 142: Led Indication During Start-Up Process

    165988-1CD Safety Board Operation LED Indication 8.1 LED Indication during Start-up Process LED Indication during Start-up Process Followings show the LED indication while start-up operation is processed. LED indication Meanings Power supply is turned ON Light up ERR:D6, D3 Light up LED2:D13, D9 Light up LED1:D12, D8...
  • Page 143 165988-1CD Safety Board Operation LED Indication 8.1 LED Indication during Start-up Process LED indication Meanings Main program of functional safety function program is started up (pre on-line) ERR:D6, D3 LED2:D13, D9 Light up LED1:D12, D8 LED0:D11, D7 Synchronization with the main CPU is completed ERR:D6, D3 (LED0 blinks in 0.5-sec cycle)

  • Page 144: Functional Safety Board Replacing Procedure

    Functional Safety Board Replacing Procedure Replace the functional safety function board following the procedures below. 1. Turn OFF the power supply to the DX200. 2. Disconnect cables from the CN250 and CN251 connectors on the functional safety board. (CN251 can be a terminate connector.) Fig.
  • Page 145 Fig. 9-3: Rotary Switch 6. Turn ON the power supply to the DX200. 7. In case the following alarm occurred when the power supply is turned ON, re-set the data following the procedures shown in section 7.2 “FLASH Data Reset”...

  • Page 146: Specific Output Signal

    165988-1CD Safety Board Operation Specific Output Signal 10 Specific Output Signal There are following signals output to the concurrent I/O while functional safety function is used. Signals output to the concurrent I/O is just an au xi rial signals to confirm the functional safety function status. NOTE To realize the safety monitoring, use the safety output signal.
  • Page 147 165988-1CD Safety Board Operation Specific Output Signal • 52050 to 52087 Output the monitoring valid /invalid status of the axis speed monitor function. ON: the monitoring is valid OFF: the monitoring is invalid 52057 52056 52055 52054 52053 52052 52051 52050 SOUT#1640 SOUT#1639 SOUT#1638 SOUT#1637 SOUT#1636 SOUT#1635 SOUT#1634 SOUT#1633 Axis speed...
  • Page 148 165988-1CD Safety Board Operation Specific Output Signal • 52090 to 52127 Output the monitoring valid /invalid status of the robot range limit function. ON: the monitoring is valid OFF: the monitoring is invalid 52097 52096 52095 52094 52093 52092 52091 52090 SOUT#1672 SOUT#1671 SOUT#1670 SOUT#1669 SOUT#1668 SOUT#1667 SOUT#1666 SOUT#1665 Robot...
  • Page 149 165988-1CD Safety Board Operation Specific Output Signal • 52130 to 52167 Output the monitoring valid /invalid status of the speed limit function. ON: the monitoring is valid OFF: the monitoring is invalid 52137 52136 52135 52134 52133 52132 52131 52130 SOUT#1704 SOUT#1703 SOUT#1702 SOUT#1701 SOUT#1700 SOUT#1699 SOUT#1698 SOUT#1697 Speed Speed...
  • Page 150 165988-1CD Safety Board Operation Specific Output Signal • 52130 to 52167 Output the monitoring valid /invalid status of the tool angle monitor function. ON: the monitoring is valid OFF: the monitoring is invalid 52177 52176 52175 52174 52173 52172 52171 52170 SOUT#1736 SOUT#1735 SOUT#1734 SOUT#1733 SOUT#1732 SOUT#1731 SOUT#1730 SOUT#1729 Tool angle...
  • Page 151 165988-1CD Safety Board Operation Specific Output Signal • 52210 to 52367 Output the monitoring valid /invalid status of the tool change monitorr function. ON: the monitoring is valid OFF: the monitoring is invalid 52217 52216 52215 52214 52213 52212 52211 52210 SOUT#1768 SOUT#1767 SOUT#1766 SOUT#1765 SOUT#1764 SOUT#1763 SOUT#1762 SOUT#1761 Tool change...
  • Page 152 165988-1CD Safety Board Operation Specific Output Signal 52267 52266 52265 52264 52263 52262 52261 52260 SOUT#1808 SOUT#1807 SOUT#1806 SOUT#1805 SOUT#1804 SOUT#1803 SOUT#1802 SOUT#1801 Tool change Tool change Tool change Tool change Tool change Tool change Tool change Tool change monitor(R3) monitor(R3) monitor(R3) monitor(R3)
  • Page 153 165988-1CD Safety Board Operation Specific Output Signal 52327 52326 52325 52324 52323 52322 52321 52320 SOUT#1856 SOUT#1855 SOUT#1854 SOUT#1853 SOUT#1852 SOUT#1851 SOUT#1850 SOUT#1849 Tool change Tool change Tool change Tool change Tool change Tool change Tool change Tool change monitor(R6) monitor(R6) monitor(R6) monitor(R6)
  • Page 154 165988-1CD Safety Board Operation Specific Output Signal • 52370 to 52407 Output the monitoring results for each condition file at the axis range limit function. For the details of the output value, refer to section 5.4 “Safety Signal Output Value” on page 5-10. 52377 52376 52375...
  • Page 155 165988-1CD Safety Board Operation Specific Output Signal • 52410 to 52447 Output the monitoring results for each condition file at the axis speed monitor function. For the details of the output value, refer to section 5.4 “Safety Signal Output Value” on page 5-10. 52417 52416 52415...
  • Page 156 165988-1CD Safety Board Operation Specific Output Signal • 52450 to 52487 Output the monitoring results for each condition file at robot range limit function. For the details of the output value, refer to section 5.4 “Safety Signal Output Value” on page 5-10. 52457 52456 52455...
  • Page 157 165988-1CD Safety Board Operation Specific Output Signal • 52490 to 52527 Output the monitoring results for each condition file at speed limit function. For the details of the output value, refer to section 5.4 “Safety Signal Output Value” on page 5-10. 52497 52496 52495...
  • Page 158 165988-1CD Safety Board Operation Specific Output Signal • 52530 to 52567 Output the monitoring results for each condition file at tool angle monitor function. For the details of the output value, refer to section 5.4 “Safety Signal Output Value” on page 5-10. 52537 52536 52535...
  • Page 159 165988-1CD Safety Board Operation Specific Output Signal • 52570 to 52577 For R1 to R8, output the monitoring results of the tool change monitor function. ON: Normal OFF: Abnormal 52577 52576 52575 52574 52573 52572 52571 52570 SOUT#2056 SOUT#2055 SOUT#2054 SOUT#2053 SOUT#2052 SOUT#2051 SOUT#2050 SOUT#2049 Tool change Tool change Tool change...

  • Page 160: Restriction

    165988-1CD Safety Board Operation Restriction 11.1 Functions Cannot Be Used Concurrently with Functional Safety Function 11 Restriction 11.1 Functions Cannot Be Used Concurrently with Functional Safety Function 11.1.1 Functions which Modifies Parameter or File during Playback Operation As explained in chapter 7 “Data Protection”, data of parameters or files are saved in a duplicated manner and are checked for safety.

  • Page 161: Functions Conditionally Used Concurrently With Functional Safety Function

    165988-1CD Safety Board Operation Restriction 11.2 Functions Conditionally Used Concurrently with Functional Safety Function 11.2 Functions Conditionally Used Concurrently with Functional Safety Function 11.2.1 Conveyor Synchronized Function, COMARC Function To the conveyor synchronized function and COMARC function, the speed for other purposes are added along with the normal operation speed in this consequence, there may be a case where the TCP speed or the flange speed cannot be controlled as specified.

  • Page 162: Restriction Of Operation

    165988-1CD Safety Board Operation Restriction 11.3 Restriction of Operation 11.3 Restriction of Operation When the functional safety function is available, operable security mode for the following data varies. Data Operation Security Security (When functional (When functional safety function is safety function is available) not available) Tool file...

  • Page 163: Tool Calibration

    After executing the tool calibration operation, re-set the data following the procedures described in section 7.2 “FLASH Data Reset” on page 7-2. Following operation is restricted till the power supply to the DX200 is turned OFF. • Servo cannot be turned ON 11.3.2 Automatic Measurement of the Tool Load and the Center of Gravity...
  • Page 164 FOR FUNCTIONAL SAFETY BOARD OPERATION HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion )

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