YASKAWA DX200 Instructions Manual page 110

165988-1CD
Safety Board Operation
Function
Axis range limit function
Axis speed monitor function Robot, Base, Station group
Robot range limit function
Speed limit function
Tool angle monitor function
Tool change monitor
function
4 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
ON Servo is turned OFF with an alarm when an error occurs under the
(MOVE object file monitoring condition.
STOP)
OFF Although monitoring is performed under the object file condition,
(CONT alarm does not occur and the servo is not turned OFF even if a
MOVE) monitoring error occurred.
The monitoring result can be obtained by the safety output signal.
{ALARM} can be specified only to the axis range limit function and the
robot range limit function.
When "OFF" is set to {ALARM}, the functional safety function does not
stop the manipulator operation even if a monitoring error is detected in
the object file. In this regard, before operating the manipulator,
sufficiently consider possible risks attributed to the alarmless operation
(risk assessment) and take necessary measures to them.
5. {GROUP}
Specify the control group to be monitored specified by the condition file.
Selectable control groups vary depending on the function.
Selectable control group
Robot, Base, Station group
Robot group
Robot, Station group
Robot group
The group is fixed by files. When modifying the object group,
change it on the list of tool angle monitor function window.
4-78
CAUTION
HW1481991
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