Table Of Contents - Mitsubishi Electric RV-FR Series Instruction Manual

[CONTENTS]
INTRODUCTION .............................................................................................................................................. I
RELEVANT DOCUMENTS ............................................................................................................................. II
TERMS ............................................................................................................................................................ II
1. FUNCTIONS AND CONFIGURATION .............................................................................................. 1-1
1.1 Overview ................................................................................................................................................... 1-1
1.2 Supported Products................................................................................................................................. 1-1
1.3 System Configuration .............................................................................................................................. 1-2
1.4 Specifications ........................................................................................................................................... 1-5
1.5 Risk Assessment ..................................................................................................................................... 1-6
1.5.1 Residual Risk (Common) ................................................................................................................... 1-6
1.5.2 Residual Risk (Specific to Each Function) ...................................................................................... 1-7
2. SET-UP ............................................................................................................................................... 2-8
3. CONNECTIONS AND COMMUNICATION DESTINATION SETTINGS ........................................... 3-9
3.1 System Configurations and Connections ............................................................................................. 3-9
3.1.1 Robot-side system configuration ................................................................................................... 3-10
3.1.2 Safety programmable controller-side system configuration ....................................................... 3-10
3.2 Network Communication Settings ........................................................................................................ 3-11
3.3 Safety Communication Settings (Safety Programmable Controller Side) ........................................ 3-11
3.4 Creating a Safety Program .................................................................................................................... 3-12
4. SAFETY MONITORING FUNCTIONS ............................................................................................. 4-13
4.1 Overview of the Safety Monitoring Functions .................................................................................... 4-13
4.1.1 Simulation ......................................................................................................................................... 4-14
4.2 Startup and Basic Configuration .......................................................................................................... 4-15
4.2.1 Connecting RT ToolBox3 ................................................................................................................. 4-15
4.2.2 Parameter configuration .................................................................................................................. 4-15
4.2.3 Password setting .............................................................................................................................. 4-16
4.2.4 Enabling/disabling functions, safety communication settings ................................................... 4-18
4.2.5 Recovery mode ................................................................................................................................. 4-21
4.2.6 Parameter CRC output number ....................................................................................................... 4-22
4.3 Defining 3D Models ................................................................................................................................ 4-24
4.3.1 3D Monitor ......................................................................................................................................... 4-24
4.3.2 Arm model ......................................................................................................................................... 4-27
4.3.3 Tool model ......................................................................................................................................... 4-28
4.4 Safety Logic Edit .................................................................................................................................... 4-29
4.4.1 Safety input settings ........................................................................................................................ 4-29
4.4.2 Safety output configuration ............................................................................................................ 4-38
4.4.3 Checking operation of the safety inputs and outputs .................................................................. 4-39
4.5 Safety Monitoring Functions ................................................................................................................ 4-41
4.5.1 Safe torque off (STO) ....................................................................................................................... 4-41
4.5.2 Safe operating stop (SOS) ............................................................................................................... 4-42
4.5.3 Safe stop 1 (SS1) .............................................................................................................................. 4-45
4.5.4 Safe stop 2 (SS2) .............................................................................................................................. 4-48
4.5.5 Safely-limited speed function (SLS) ............................................................................................... 4-51
4.5.6 Safely-limited position function (SLP) ........................................................................................... 4-59
4.6 Safety Diagnosis Function .................................................................................................................... 4-68
4.6.1 Test pulse diagnosis (EMG)............................................................................................................. 4-68
4.7 Safety Communication Function .......................................................................................................... 4-69
4.7.1 Safety connection ............................................................................................................................. 4-69
4.7.2 Transmission interval monitoring time .......................................................................................... 4-72
4.7.3 Safety refresh monitoring time ....................................................................................................... 4-72
4.7.4 Transmission delay time .................................................................................................................. 4-73
5. ROBOT (SYSTEM) STATE VARIABLES ........................................................................................ 5-74