Troubleshooting For Safety Signals Coming From Unsuitably Installed Safety Devices - Comau Robotics C5G Instruction Handbook Manual

6.6.5 Troubleshooting for safety signals coming from
HS-RC-C5E-TIN_05.fm
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unsuitably installed safety devices
In unusual cases, when the installation of safety devices (e.g. safety limit switch) is
carried out on major or precarious doors, it may happen that the door closing causes
irregular bounces on the contacts, that affect the electric signal. Such troubles on the
signals may lead to an inconsistent assessment of the signals by the SDM module and
therefore to a system jam.
The involved inputs are E-Stop, Auto-Stop and General-Stop (on the Auto-Stop is
usually connected the safety limit switch of the cell/line access door).
The diagnosis is possible checking the variables (bit) listed below: the 0 (zero) status
of the bit with both channels of the corresponding input closed identifies which signal
caused the jam.
Variable
E-Stop Input Status.
$SDI[1]
Values: 1 input closed, 0 input open
General-Stop Input Status
$SDI[2]
Values: 1 input closed, 0 input open
Auto-Stop Input Status (ignored in Programming mode)
$SDI[4]
Values: 1 input closed, 0 input open
To quit the diagnostic jam reopen both contacts of the corresponding signal or shut
down and then turn on again the Control Unit.
Safety circuits: minimum requirements for integration
Function
57