Setup (Safety Range Function For Each Axis); Preparation For Safety Range Function; Setting Expected Stop Value - YASKAWA DX100 Instructions Manual

HW0486052
DX100
4

Setup (Safety Range Function for Each Axis)

4.1
4.2
4 Setup (Safety Range Function for Each Axis)
4.1

Preparation for Safety Range Function

Preparation for Safety Range Function
For the safety range function for each axis, set the movement amount of
each axis of the robot in advance. Then, each axis is monitored so that it
does not exceed the safety range.
If any monitoring error is detected, the servo power will be turned OFF.
The outline of the operating procedure is as follows:

(1) Setting expected stop value

(2) Setting safety range for each axis
(3) Confirming safety range for each axis
(4) Starting safety range function for each axis
Each operating procedure is explained below.
Setting Expected Stop Value
When the servo power is turned OFF during robot operation, the robot
keeps moving due to inertia until it stops completely. The functional safety
unit predicts the movement distance (hereinafter called the coasting
value) according to the speed of each axis until the robot actually stops.
By predicting the coasting value, the robot does not exceed the safety
range even if an error, such as the robot's exceeding the safety range, is
detected.
For example, when the robot is operating at 100% of its motion speed, the
functional safety unit starts to stop it from "the distance of the coasting
value of 100% motion speed". When the robot is operating at 50% of its
motion speed, the functional safety unit starts to stop it from "the distance
of the coasting value of 50% motion speed".
To perform the above predictive control, the robot may stop before the
safety range when it moves to the teaching point near the safety range.
To add an teaching point near the safety range, take the following
measures:
(1) Lower the teaching speed
(2) Change the teaching point
(3) Change the setting of the safety range to widen it
Regarding the coasting value of the external axis, settings must be made
by the user as instructed in the following.
If settings of the coasting value are not completed, the following error
occurs and playback cannot be performed.
Error 0384: "Coasting value setting of Ex-axis is not completed."
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