YASKAWA DX100 Instructions Manual page 27

DX100
3.6
3 Setup (Safety Range Function for Robot)
3.6 Switching Safety Range
Switching Safety Range
Multiple safety ranges can be set/confirmed in advance, and the ranges
can be switched by external signals.
For multiple safety ranges, set an overlap area. Switch between ranges
only when the robot is in the overlap area.
Use the dual input signal of the functional safety unit to switch between
safety ranges. If the range is selected by the signal while the range is
being set, the following alarm occurs. Select another range already
confirmed to reset the alarm.
Alarm to occur:
Alarm 4691: "OPERATION AREA SET ERR (SAFETY)"
If the range is selected while it is being set or confirmed during the robot
program operation, the following alarm occurs. Select another range
already confirmed to reset the alarm.
Alarm to occur:
Alarm 4679: "SPECIFIED MOTION RANGE ERROR"
Selected safety range numbers are output to the following system output
signals. (Refer to chapter 7 "System Output Signal" at page 7-1.)
50940 to 50947: Selected RANGE NUMBER (d0)
50950 to 50957: Selected RANGE NUMBER (d1)
• Before using the safety range switching function, give due
consideration (risk assessment) to the potential danger by switching
between ranges.
• When performing the teaching operation of the robot program, the
operator should always check the range number before each
operation.
• Prepare a means to identify the selected range number, and check
the selected range number before performing operations.
• Check that the robot is stopped before switching between ranges.
Switching between ranges during the robot program operation may
result in the following risks.
– Risk of selecting a wrong range
– Risk that the robot may exceed the range after switch when the
ranges before and after switch are greatly different or the overlap
area of them are small
3-12
CAUTION
HW0486052
HW0486052
27/56