YRC1000micro: Functional Safety Function

1 Overview of the Function
    1.1 Outline
    1.2 List of Safety Functions
    1.3 Structure of Configuration Files
2 System Configuration
    2.1 Outline
        2.1.1 Connector for Expansion Safety I/O Board
        2.1.2 Functional Safety General-Purpose Input Signal 1 to 8
        2.1.3 Functional Safety General-Purpose Output Signal 1 to 8
3 Common Operation
    3.1 Security Mode When Using This Function
    3.2 Readback Operation
        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
    3.3 External Memory Device (Saving/Loading)
4 Details of Functional Safety Function
    4.1 Axis Range Limit Function
        4.1.1 Outline
        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
        4.2.1 Outline
        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
    4.3 Robot Range Limit Function
        4.3.1 Outline
        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
    4.4 Speed Limit Function
        4.4.1 Outline
        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
        4.5.1 Outline
        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
        4.6.1 Outline
        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 Common Setting Item for the Condition File
5 Safety Signal
    5.1 Allocation of Safety Logic Circuit Extended Signal
    5.2 Settings of Safety Function Condition File
    5.3 File Switching to Valid/Invalid by the Safety Input Signal
    5.4 Safety Signal Output Value
6 Common Settings
    6.1 Function Disable Mode Setting
        6.1.1 Restrictions While Function Disable Mode Is Enabled
        6.1.2 Security Level Setting for Function Disable Mode
    6.2 External Axis Coasting Value Setting
    6.3 Tool File Setting
    6.4 Tool Interference File Setting
    6.5 Security Level Setting for Tool File and Tool Interference Files
    6.6 Using the PMT Function Together with the Functional Safety Function
        6.6.1 How to Use the PMT Function Together with the Functional Safety Function
        6.6.2 Monitoring the Amount of Change in the Tool Files
        6.6.3 Tool File Verification Check in a System Using the PMT Function Together with the Functional Safety Function
    6.7 Disabling Functional Safety by Changing Connection Settings
7 Data Protection
    7.1 Saving Dual Data
    7.2 FLASH Data Reset
    7.3 Modifies the Condition File from an External Device
        7.3.1 Outputting the CRC Value to the External Memory Device
        7.3.2 Confirming Method of the CRC Value
        7.3.3 Output the Register of the CRC Value
8 Specific Output Signal
9 Restriction
    9.1 Functions Cannot Be Used Concurrently with Functional Safety Function
        9.1.1 Functions Which Modifies Parameter or File during Playback Operation
    9.2 Functions Conditionally Used Concurrently with Functional Safety Function
        9.2.1 Conveyor Synchronized Function
        9.2.2 Servo Float Function
        9.2.3 MotoPlus Function and MotoFit Function
        9.2.4 Group Change Function
        9.2.5 T-axis Endless Function, External Axis Endless Function
    9.3 Restriction of Operation
        9.3.1 File/Parameter Loading
10 Error