How To Add an PFL Resume Button on the Interface Panel or I/F Panel

Introduction

A user can use the Interface Panel of the Smart Pendant or the I/F Panel of the Standard Pendant and create a secondary PFL Resume Button.

Overview

Access to a secondary PFL Resume Button from the Smart or Standard Pendant would be beneficial in an application where the actual PFL Resume Button on the robot is hard to reach. This is true in applications where the HC robot in on a tall platform or riser and the user would need to use a ladder to press the PFL Resume Button.

To create the secondary PFL Resume Button on the Smart or Standard Pendant, the user would need to identify the signals that are tied to the PFL Resume Button on the HC robot. Then make changes in the Ladder Program and Safety Logic Circuit to implement the button on the interface panel to act as a secondary PFL Resume Button. This will be explained in the Setup of this article.

Setup

PFL Resume Button – Signals

               When a PFL stop occurs on a HC robot, the robot controller turns ON Safety General-Purpose Output signal FSBOUT7 (Relay Signal #80696), which turns ON the LED light on the PFL Resume Button. The robot controller also turns ON Machine Safety Output signal MS-OUT51 (Relay Signal #81382), which cause the HC robot to enter a stop monitor state. These signals are the same on both YRC1000 and YRC1000micro controller. Either of these 2 signals can be used as the input signal for the secondary PFL resume button on the Interface Panel or I/F Panel. In this setup, FSBOUT7 will be used.

               The PFL resume signal needed to reset the PFL alarm is Machine Safety Output signal MS-OUT57 (Relay Signal #81390). This signal cannot be tied directly to the Interface Panel or I/F Panel but will be tied into the Ladder Program and Safety Logic Circuit. If the user tries to tie MS-OUT57 signal as the output signal for the button on the Interface Panel or I/F Panel, the user will get an error message.

Error message on Standard Pendant if using Relay Signal #81390 as the Output Signal.

Error message on Smart Pendant if using Relay Signal #81390 as the Output Signal under the Target value.

PFL Resume Button – Output Signal       

To first tie in the PFL Resume Button from the Interface Panel or I/F Panel to the Ladder Program, a General-Purpose Output Signal is used as the output signal of the button. The General-Purpose Output Signal can be any signal that’s available in the robot controller. In this setup, General-Purpose Output #4033 (Relay Signal #15050) is used. Then in the Ladder Program, a rung will be added to the User Ladder, and the logic will be setup that when Relay Signal #15050 is ON, the robot controller will output Relay Signal #40780 to turn ON. Relay Signal #40780 is Specific Input 01 or SPIN01, which is a signal that can be tied in the Safety Logic Circuit and turn ON signal MS-OUT57 to reset a PFL alarm.

Same as signal MS-OUT57, signal SPIN01 cannot be tied as the output signal of the PFL Reset Button on the Interface Panel or I/F Panel. As mentioned earlier, signal SPIN01 can be tied in the Ladder Program, which can then be tied to the Safety Logic Circuit to turn ON signal MS-OUT57. This will be described later in the article. The relays signal number for SPIN01 is also the same for both YRC1000 and YRC1000micro controllers.

Interface Panel – Smart Pendant

To create a button on the Smart Pendant the user navigates to the Main Menu → Interface Panels → Panel List. Then on the top of the screen, press NEW PANEL to create an Interface Panel with a Signal Light and Toggle Button. In this example, the Interface Panel name is set as “PFL Resume Button”.

Light Indicator is added to the PFL Resume Button Interface. The Target is set to #80696.

Toggle Switch is added to the PFL Resume Button Interface. The Target value is set to #15050.

One note on the Toggle Switch on the Interface Panel. The reason why a Toggle Switch is used instead of a Button, is because the Button on the Interface Panel is a Maintained Button. If the PFL Resume Button is set as a Maintained Button, the output signal of the PFL Resume Button will stay ON and will not let the HC robot reset the PFL alarm.

I/F Panel – Standard Pendant

To create a button on the I/F Panel, the user navigates to the Main Menu → SYSTEM INFO → I/F PANEL SETUP. The image below shows how the PFL Resume Button was set up on the I/F Panel Setup.

The setup details of the PFL Resume Button on the I/F Panel.

The PFL Resume Button on the I/F Panel.

Ladder Program

               As of this article's publication, the Ladder Program can only be edited in the Standard Pendant or the Classic Interface of the Smart Pendant. To edit the Ladder Program, first verify that the user is in Management Mode Security Level or higher, then navigate to the Main Menu → IN/OUT → LADDER PROGRAM. Then press the “PAGE” membrane key of the Pendant to navigate to the User Ladder Program and then press “EDIT” on the sub menu on the top and then press “END LINE” to add a new rung at the end of the Ladder Program. Below is an image of the rung that will turn ON Relay Signal #40780 (SPIN01) when Relay Signal #15050 (General-Purpose Output Signal #4033) is ON. Relay Signal #15050 is the output signal of the PFL Resume button from the Interface Panel or I/F Panel. Relay Signal #40780 is Special Input Signal #1 or SPIN01, which will be used in the Safety Logic Circuit as an input to trigger MS-OUT57 to turn ON.

The rung is set that when Relay Signal #15050 turns ON, it will output Relay Signal #40780 to turn ON.

Safety Logic Circuit

               After adding the rung in the Ladder Program where signal SPIN01 turns ON when the user presses the PFL Resume Button (Relay Signal #15050 or General-Purpose Output #4033), now signal SPIN01 can be tied in the Safety Logic Circuit.

               In the Smart Pendant, the user navigates to the Main Menu → Safety Settings → Safety Logic Circuit. Verify that the user is in Safety Mode Security Level to add a rung in the Safety Logic Circuit. Then the user will press “NEW LOGIC” on the top of the screen and then on the input side, press the signal to select SPIN01. The signal SPIN01 will under the “Other I/O Signals” tab. Then the user selects the Output side of the rung to select signal MS-OUT57, which can be found under the “Virtual Discrete Safety I/O” tab. Once the rung is setup correctly the user presses “READBACK” → “WRITE” for the rung be added in the Safety Logic Circuit.

Signal SPIN01 and MS-OUT57 are set on the second rung of the Safety Logic Circuit on Smart Pendant.

In the Standard Pendant the user navigates in the Main Menu → SAFETY FUNC. → SAFETY LOGIC CIRCUIT. The setup is simple, the input signal will be SPIN01 and the output signal will be MS-OUT57. Once the user has finished adding rung, the use presses “READBACK” in the bottom of the screen then “WRITE”. Then a pop up will come up in the middle of the screen and then press “YES” to complete the process of adding the rung.

Signal SPIN01 and MS-OUT57 are set on the second rung of the Safety Logic Circuit on the Standard Pendant.

Conclusion

               Following this setup will help the user in creating a PFL resume button on the Interface Panel in the Smart Pendant or in the I/F Panel of the Standard Pendant. This setup is a bit simpler than the article written on how to attach a physical button and for it to behave as an external PFL Resume Button. The main difference is skipping the whole process of installing the External Button on the YRC1000 or YRC1000micro controller. To learn more about on how to install a physical external button and set it up as an External PFL Resume Button reference the “How to Add an External Button to Act as the PFL Reset / Resume Button for Yaskawa HC Robots” article on the Knowledge Center.