Setting Safety Function Parameters Related to Safety Inputs and Safety Outputs
These settings are used by the safety input and safety output functions.
Safety input settings
These settings assign a function to be enabled for the safety inputs. For example, if you want to perform an emergency stop when a signal is input to SAFETY_IN1, enable the checkbox at the intersection of SAFETY_IN1 and ESTOP.
| No | Name | Function | Notes |
|---|---|---|---|
| 1. Safety Input Settings | |||
| 1.1 | SAFETY_IN1 | Function setting for SAFETY_IN1 | Set the function for each safety input by assigning one of the "A. Safety Functions That Can Be Assigned" in the table below. |
| 1.2 | SAFETY_IN2 | Function setting for SAFETY_IN2 | |
| 1.3 | SAFETY_IN3 | Function setting for SAFETY_IN3 | |
| 1.4 | SAFETY_IN4 | Function setting for SAFETY_IN4 | |
| 1.5 | SAFETY_IN5 | Function setting for SAFETY_IN5 | |
| No | Name | Function | Notes |
|---|---|---|---|
| A. Safety Functions That Can Be Assigned | |||
| Standard Functions | ESTOP | Emergency stop | ESTOP is assigned to SAFETY_IN1 by factory default. |
| SG | Protective stop | SG is assigned to SAFETY_IN2 by factory default. | |
| Safety Function Options | SLS_1, SLS_2, SLS_3 | Safety Limited Speed (SLS) | SLS_1, 2, and 3 can be assigned to safety inputs to set the safety outputs and the safety speed limit. Refer to the following section for details. Setting Safety Function Parameters Related to Safety Limited Speed (SLS) SLS_T and SLS_T2 monitoring is enabled in the prescribed operation modes without having to be assigned to a safety input. Refer to the following section for details. |
| SLP_A, SLP_B, SLP_C | Safety Limited Position (SLP) | SLP_A, B, and C can be assigned to safety inputs to set the safety outputs and monitored areas. Refer to the following section for details. Robot Installation Position Settings for Safety Limited Position (SLP) | |
CAUTION
- If ESTOP is not set for SAFETY_IN, an emergency stop switch must be connected to the emergency stop input connector or a Teach Pendant must be connected.
- SG should be set to one or more SAFETY_IN.
KEY POINTS
Settings for the safety inputs are divided into three groups.
- Any single group of safety functions can be selected for one SAFETY_IN.
- Group 3 allows a combination of functions to be selected.
- For SLS options, one can be selected.
- For SLP options, an arbitrary combination can be selected. When SAFETY_IN is turned ON, all combined functions will be enabled.
Safety outputs settings
These settings assign conditions for when the safety outputs output a signal.
For example, if you want to output a signal from SAFETY_OUT1 when STO is executed, enable the checkbox at the intersection of SAFETY_OUT1 and STO.
| No | Name | Function | Notes |
|---|---|---|---|
| 2. Safety Output Ports | |||
| 2.1 | SAFETY_OUT1 | Function setting for SAFETY_OUT1 | Set the function for each safety output port by assigning one of the "B. Safety Functions That Can Be Assigned" in the table below. |
| 2.2 | SAFETY_OUT2 | Function setting for SAFETY_OUT2 | |
| 2.3 | SAFETY_OUT3 | Function setting for SAFETY_OUT3 | |
| No | Name | Function | Notes |
|---|---|---|---|
| B. Safety Functions That Can Be Assigned | |||
| Standard functions | STO | Outputs a signal when a Safe Torque OFF is executed. | Refer to the following section for details. |
| EP_RC | Outputs whether the emergency stop button connected to the emergency stop input connector of the Robot Controller is On or Off. | Refer to the following section for details. | |
| EP_TP | Outputs whether the emergency stop button on the Teach Pendant is On or Off. | Refer to the following section for details. | |
| EN_SW | Outputs whether the enable switch on the Teach Pendant is On or Off. | Refer to the following section for details. | |
| SLS_T | Outputs whether Safety Limited Speed (SLS_T) is enabled or disabled. | Refer to the following section for details. | |
| SLS_T2 | Outputs whether Safety Limited Speed (SLS_T2) is enabled or disabled. | ||
| Optional safety functions | SLS_1,SLS_2,SLS_3 | Outputs whether Safety Limited Speed (SLS) is enabled or disabled. | Safety Function options. A function can only be assigned to a safety output if it is assigned to a safety input. Refer to the following section for details. |
| SLP_A,SLP_B,SLP_C | Outputs whether Safety Limited Position (SLP) is enabled or disabled. | Safety Function options. A function can only be assigned to a safety output if it is assigned to a safety input. Refer to the following section for details. | |
KEY POINTS
Multiple functions can be selected. When even one of the selected functions operates, a signal is output from the SAFETY_OUT.