Functions And Configuration; Overview - Mitsubishi Electric CR800-R Instruction Manual

1. FUNCTIONS AND CONFIGURATION

1.1 Overview

The safety communication function sends/receives safety I/O signals to/from the safety programmable controller.
The function is implemented with the safety monitoring function of the CR800-R/CR860-R controllers. The
following table lists safety monitoring functions that can be implemented with the safety communication function.
Function
Safety communication
function
Safety logic edit Input
Output
Safe torque off STO
Safe operating SOS
stop
Safe stop SS1
function 1
Safe stop SS2
function 2
Safely-limited SLS
speed function
Safely-limited SLP
position function
* To use safety I/O from external sensors such as laser scanners and light curtains with the robot controller, the
robot safety option (4F-SF002-01, 4F-SF003-05) is required when a safety programmable controller is not used.
The safety communication function and robot safety option cannot be used together.
Table 1-1: Safety monitoring functions overview
Functional description
This function performs safety communication with the
safety programmable controller using functional safety-
compatible protocols. Input signals are used to switch
the safety monitoring function, and output signals are
used to output the status of the safety monitoring
functions (safety logic edit).
When the safety communication function is enabled,
the following safety monitoring functions are available.
SS1 (STO), SS2 (SOS), SLS, SLP
This allows defining conditions for the safety monitoring
function to work.
Safety input signals and the AREA information of the
robot can be combined to configure the conditions to
trigger the safety monitoring functions.
This allows outputting safety signals based on running
states of the safety monitoring functions and AREA
monitoring information. This is used for displaying
safety states or connecting other safety devices.
The function shuts off driving energy to the motors of
the robot.
Without shutting off the driving energy to the motors,
this function monitors the robot so that it stays at rest.
This is a function to stop the robot safely. After stopping
the robot, power off the motors.
This is a function to stop the robot safely. While the
motor control keeps working after the robot stops, this
function monitors the robot so that it does not work.
This is a function to monitor the robot arm and the tools
so that their speeds do not exceed specified limits.
• Speed monitoring in XYZ coordinates
• Speed monitoring in joint coordinates
This is a function to monitor whether positions of the
robot arm and the hand are in a safe area.
1 FUNCTIONS AND CONFIGURATION
See:
4.7 Safety
Communication
Function
4.4 Safety Logic
Edit
4.5.1 Safe torque
off (STO)
4.5.2 Safe
operating stop
(SOS)
4.5.3 Safe stop 1
(SS1)
4.5.4 Safe stop 2
(SS2)
4.5.5 Safely-limited
speed function
(SLS)
4.5.6 Safely-limited
position function
(SLP)
Overview 1-1