1.3 Structure of Configuration Files
2.1.1 Safety Circuit Board (JANCD-ASF01-E)
2.1.2 Expansion Safety I/O Board (JANCD-ASF02-E)
2.1.3 Expansion Safety Terminal Block Board
2.1.4 Wiring Procedure of the Terminal Block
2.1.5 Functional Safety General-Purpose Input Signal 1 to 8
2.1.6 Functional Safety General-Purpose Output Signal 1 to 8
2.3 System Configuration for Dual-Arm Manipulator
3.1 Security Mode When Using This Function
3.2.1 Readback Operation of the Configuration File
3.2.2 Operations in Which the READBACK Window Is Shown
3.2.2.1 Readback Operation of the Function Disable Mode
3.2.2.2 Readback Operation of the Range Combination
3.2.2.3 Readback Operation of the Robot Interference Model
3.3 External Memory Device (Saving/Loading)
4 Details of Functional Safety Function
4.1.2 Axis Range Limit Function Window
4.1.3 Axis Range Limit Condition File Setting
4.1.4 Confirming Method of Each Axis Operating Angle
4.1.5 Confirmation of Safety Range
4.1.6 Start the Axis Range Limit Operation
4.1.7 Monitoring Status Confirmation Display
4.2 Axis Speed Monitor Function
4.2.2 Axis Speed Monitor Function Window
4.2.3 Axis Speed Monitor Condition File Setting
4.2.4 Start the Axis Speed Monitor Operation
4.2.5 Checking the Axis Speeds
4.3 Robot Range Limit Function
4.3.2 Robot Range Limit Function Window
4.3.3 Robot Range Limit Function Condition File Setting Window
4.3.4 Confirmation of the Safety Range
4.3.5 Starting the Robot Range Limit
4.3.6 Switch the Monitoring Area
4.3.7 Safety Range and Manipulator Position
4.3.8 Proximity Warning Buzzer Setting
4.3.9 Combining Function of Multiple Monitoring Areas
4.3.10 Extend Function of Robot Interference Model
4.4.2 Speed Limit Function Window
4.4.3 Speed Limit Function Condition File Setting Window
4.4.4 Starting the Speed Limit
4.4.5 Speed Limit in Teach Mode
4.5 Tool Angle Monitor Function
4.5.2 Tool Angle Monitor Function Window
4.5.3 Tool Angle Monitor Condition File Setting
4.5.4 Confirmation of Tool Angle Limit Monitor
4.5.5 Starting the Tool Angle Monitor
4.6 Tool Change Monitor Function
4.6.2 Tool Change Monitor Function Window
4.6.3 Tool Change Monitor Condition File Setting
4.6.4 Confirmation of Tool Change Monitor
4.6.5 Starting the Tool Change Monitor
4.6.6 When Using the Tool Change Monitor Function
4.7 Tool Number Selection Function
4.7.2 Tool Number Selection Function Window
4.7.3 Tool Number Selection Condition File Setting
4.7.4 Confirmation of Tool Number Selection
4.7.5 Starting the Tool Number Selection
4.7.6 When Using the Tool Number Selection Function
4.8 Common Setting Item for the Condition File
5 Information on Safety Functions
5.2 Axis Speed Monitor (SF-10)
5.5 Tool Angle Monitor (SF-11)
5.6 Tool Change Monitor (SF-12)
5.7 Tool Number Select (SF-13)
6.1 Allocation of Safety Logic Circuit Extended Signal
6.2 Allocation of Safety Fieldbus Signal
6.3 Settings of Safety Function Condition File
6.4 File Switching to Valid/Invalid by the Safety Input Signal
6.5 Safety Signal Output Value
7.1 Function Disable Mode Setting
7.1.1 Restrictions While Function Disable Mode Is Enabled
7.1.2 Security Level Setting for Function Disable Mode
7.2 External Axis Coasting Value Setting
7.4 Tool Interference File Setting
7.5 Security Level Setting for Tool File and Tool Interference Files
7.6 Using the PMT Function Together with the Functional Safety Function
7.6.1 How to Use the PMT Function Together with the Functional Safety Function
7.6.2 Monitoring the Amount of Change in the Tool Files
7.7 Disabling Functional Safety by Changing Connection Settings
8.3 Change of Condition File by an External Device
8.3.1 Outputting the CRC Value to the External Memory Device
8.3.2 Confirming Method of the CRC Value
8.3.3 Register Output of the CRC Value
8.3.4 Data Monitor on the Total CRC Confirmation Window
8.3.5 Save Data CRC Check Function (FSU)
10.1 Functions Cannot Be Used Concurrently with Functional Safety Function
10.1.1 Functions That Modify Parameter or File during Playback Operation
10.2 Functions Conditionally Used Concurrently with Functional Safety Function
10.2.1 Conveyor Synchronized Function, COMARC Function
10.2.4 MotoPlus Function and MotoFit Function
10.2.5 T-axis Endless Function, External Axis Endless Function
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