State Diagram - Applied Robotics 1303-D05A Quick Start Manual

Diagnostic Coverage
The diagnostic coverage monitors the status of the Tool Stand Present, Tool Present, and the Output
Valve Spool Position through a set of normally open and normally closed contacts. In order for proper opera-
tion of the system, all dual channel devices need to operate simultaneously. A resistor/capacitor combination is
included, such that the uncouple signal to the valve shall remain present approximately (1) second after initial
loss of valve signal. This is to ensure there are no "nuisance trips" while the switches and relays change state. A
customer is given a single point to monitor and may supply a monitoring signal. This signal is applied across all
diagnostic coverage contacts and should not be lost during normal operation. If any single channel fails to oper-
ate within (1) seconds of its complimentary channel, a loss of monitoring signal will occur. The customer also
has the option of monitoring the signal directly and can determine what defines a nuisance trip.

3 State Diagram

The State Diagram below shows the status of each individual sensor/switch that makes up the Safety Function
and Diagnostic Coverage. The Tool Present Status Switch is normally closed and will show a "1" when NO tool
is present. The Tool Stand Present Status Switch is normally open and will show a "1" when there is a tool
present. The Output Valve Prox is normally open and detects spool position, which shows a "1" when the valve
spool is not actuated. The LEDs show in section 8 of this manual will correspond to this diagram by being ON
when the listed condition shows a "1".
Condition of Tool Changer
Tool Changer Coupled, No
Stand, No Tool Present Signal
Tool Changer Coupled, No
Stand, Tool Present Signal
Tool Changer Coupled, In
Stand, No Tool Present Signal
Tool Changer Coupled, In
Stand, Tool Present Signal
Tool Changer Uncoupled, No
Stand, No Tool Present Signal
Tool Changer Uncoupled, No
Stand, Tool Present Signal
Tool Changer Uncoupled, In
Stand, No Tool Present Signal
Tool Changer Uncoupled, In
Stand, Tool Present Signal
t
Abnormal Operation - describes a condition not expected during Normal Operation, The result is always a safe
condition being met.
1303-D05A & 1304-D57A
Tool Tool Stand
Present Present
Status Status
1 0
0 0
1 1
0 1
1 0
0 0
1 1
0 1
Manual - 95575 Rev 05
Output
Uncouple
Valve Prox
Ability
Status
1 Yes
1 No
1 Yes
1 Yes
0 Yes
0 No
0 No
0 Yes
Operation Condition,
Safety Action
t
Abnormal Operation ,
Uncouple Allowed
Normal Operation,
Forced Couple
Abnormal Operation,
Forced Couple
Normal Operation,
Uncouple Allowed
Normal Operation,
Uncouple Allowed
Abnormal Operation,
Forced Couple
Abnormal Operation,
Forced Couple
Normal Operation,
Uncouple Allowed
6