External Axis Coasting Value Setting - YASKAWA DX200 Instructions Manual

165988-1CD
Safety Board Operation
6.2
6 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
setting is required.
Function
Axis range limit function
Axis speed monitor function
Robot range limit function
Speed limit function
Tool angle monitor function
Tool change monitor function
In case the power supply to the servo is turned OFF while the manipulator
is in operation, it may move a little bit before completely stopping because
of the force of inertia. The functional safety function functions by
estimating the moving value (coasting value) of the manipulator from the
servo OFF position to the completely stopped position in accordance with
each axis speed.
By setting the manipulator to stop just before it exceeds the safety range
including its coasting distance on the basis of the estimated coasting
value, the stop position of the manipulator does not exceed the safety
range.
For example, when the manipulator is operating with 100% of operating
speed, the functional safety function starts instructing the manipulator to
stop "the coasting value when the manipulator is operating with 100% of
operating speed" before the border of its limited area.
Also, when the manipulator is operating with 50% of operating speed, the
functional safety function starts instructing the manipulator to stop "the
coasting value when the manipulator is operating with 50% of operating
speed" before the border of its limited area.
For the coasting value of the manipulator, it is already set before
shipment. However, for an external axis, it should be set by the customer.
When the monitoring operations in the axis range limit function or the
robot range limit function is valid but its coasting value is not set, an error
may occur and following operations will be restricted.
• Play back operation
• Forward and Backward operations
• Test-run operation
• I/O Jog operation
• Execution of motor gun at tuning
The coasting value is difficult to obtain by calculation. Do
not use values using in other systems because the value
varies largely depending on the structure or shape of the
NOTE
external axis.
When inputting a temporary value, set a large value enough
to avoid the risk.
6-7
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in the following table, an advanced
Reference
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X
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X
X
X
HW1481991
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