Speed Limiting Function; Setting Of Speed Limiting Function; Setting Details Upon Shipment - YASKAWA DX200 Instructions Manual

2.6

2.6.1 Setting of Speed Limiting Function

2.6.2 Setting Details Upon Shipment

Table 2-1: Setting of Speed Limit Upon Shipment
Status of Safety General Input
Signal
FSBIN01 FSBIN02
ON (No intruding
object in the
area)
ON (Enable OFF) OFF (With
intruding object
in the area)
OFF (Enable ON) OFF (With
intruding object
in the area)
2 Hand Guiding Function
2.6

Speed Limiting Function

Speed Limiting Function
The hand guiding function limits the manipulator's operation speed (TCP
speed) by "speed limiting function" which is a part of the functional safety
function.
The speed limit for the hand guiding function is set before-
NOTE
hand upon shipment.
For details of setting procedures for the functional safety, refer to the
following instruction manuals.
DX200: DX200 OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY
BOARD OPERATION (HW1481991)
YRC1000: YRC1000 OPTIONS INSTRUCTIONS FOR FUNCTIONAL
SAFETY FUNCTION (HW1483576)
Only the safety manager can change the setting of the
NOTE
speed limiting function.
If the condition file of the functional safety function is changed from the
setting upon shipment, the hand guiding function may not be able to
use safely or may not operate normally.
Upon shipment, the speed limit is set to switch depending on the status of
safety general input signals FSBIN01 to connect with the enable signal of
the hand guiding device and FSBIN02 to connect with the output signal of
the presence detection sensor.
Status of
Machine Safety
Output Signal
MS-OUT01
OFF (During
TEACH mode)
ON (During
PLAY mode)
ON (During
PLAY mode)
2-8
WARNING
Available Enabled
Operation Speed
Limit File
Number
Automatic None
operation
Jog
Not available 2
Hand guiding 1
HW1485706
HW1485706
Details of Speed Limit
No speed limit
Stop monitoring
(0 [mm/s] speed limit)
Speed limit for the
collaborative operation
(250 [mm/s] speed limit)
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