Starting Safety Range Function For Each Axis - YASKAWA DX100 Instructions Manual

DX100
4.5
4 Setup (Safety Range Function for Each Axis)
4.5

Starting Safety Range Function for Each Axis

Starting Safety Range Function for Each Axis
After confirming that the manipulator/external axis can move in the set
safety range, press [CONFIRM]. The STATUS indication is changed to
"MONITORING" and the safety unit starts the safety range function for
each axis.
Check the following items with the actual job.
<How to check the safety range in the play mode>
1. Check the teaching point of job.
If an alarm occurs and the robot does not operate when the job is
played back, the following causes are possible:
• The specified range is inappropriate.
• Teaching is inappropriate.
In such a case, recalculate the range or modify teaching.
Alarm 4683: "AXIS MOTION RANGE LIMIT"
<Cause>
The teaching position is out of the specified range.
<Countermeasure>
Check that the specified range is correct.
Change the teaching position so that it falls in the range.
2. Endurance running must be normally performed.
Try to move the actual job. If the robot moves near the specified
range, an alarm may occur. In such a case, modify teaching or slow
down the speed.
Alarm 1625: "OPERATION AREA MON. ERR(AXIS)"
<Cause>
The range error was detected when the robot operated.
<Reason>
This alarm was detected by the safety unit. The safety unit monitors
the position based on the feedback pulse from the motor. The
speed and coasting value is considered during calculation so that
the robot does not move out of the range. Thus, this alarm occurs
when the teaching position is near the safety range or the teaching
speed is fast.
<Countermeasure>
Make the safety range setting INVALID, move the robot within the
safety range, then make the setting VALID again.
Modify teaching so that the teaching position is not near the safety
range.
Reduce the teaching speed.
If the STATUS is "CONFIRMING", PLAY mode operation is
NOTE
disabled. Be sure to perform confirming operation and
press [CONFIRM] button on the screen.
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