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ID : 2614
Safety
The following table shows parameters used for the RC8A Safety motion specification. This parameter is available Ver. 2.1.* or higher.
Setting with the WINCAPSIII
To set parameters, use WINCAPSIII. It is impossible to set parameters with a teach pendant.
For details about operation, refer to Setting for Monitoring of RC8A Safety Motion Specification Manual.
Parameter List
| No. | Item Name | Unit | Default | Description |
|---|---|---|---|---|
| 2 | Enable Auto input | - | 1 | Specify whether to use the Enable auto input or not. 0 : Disable |
| 3 | SS2 input setting | - | 1 | Specify whether to use the SS2 input signal or not. 0 : Disable |
| 4 | RSM1 input setting | - | 1 | Specify whether to use the RSM1 input signal or not. 0 : Disable |
| 5 | RSM2 input setting | - | 1 | Specify whether to use the RSM2 input signal or not. 0 : Disable |
| 6 | RSM3 input setting | - | 1 | Specify whether to use the RSM3 input signal or not. 0 : Disable |
| 7 | TOOL0 input setting | - | 1 | Specify whether to use the TOOL0 input signal or not. 0 : Disable |
| 8 | TOOL1 input setting | - | 1 | Specify whether to use the TOOL1 input signal or not. 0 : Disable |
| 9 | TOOL2 input setting | - | 1 | Specify whether to use the TOOL2 input signal or not. 0 : Disable |
| 10 | TOOL3 input setting | - | 1 | Specify whether to use the TOOL3 input signal or not. 0 : Disable |
| 11 | Monitoring area 0 disable input setting | - | 1 | Specify whether to use the Monitoring area 0 disable input signal or not. 0 : Disable |
| 12 | Monitoring area 1 disable input setting | - | 1 | Specify whether to use the Monitoring area 1 dusable input signal or not. 0 : Disable |
| 13 | Monitoring area 2 disable input setting | - | 1 | Specify whether to use the Monitoring area 2 disable input signal or not. 0 : Disable |
| 14 | Monitoring area 3 disable input setting | - | 1 | Specify whether to use the Monitoring area 3 disable input signal or not. 0 : Disable |
| 15 | Monitoring disable input setting | - | 0 | Specify whether to use the Monitoring disable input signal or not. 0 : Disable |
| 16 | SS1 input setting | - | 1 | Specify whether to use the SS1 input signal or not. 0 : Disable |
| 17 | Safe reference position check input setting | - | 1 | Specify whether to use the Safe reference position check input signal or not. 0 : Disable |
| 18 | SLP output setting | - | 1 | Specify whether to use the SLP output signal or not. 0 : Disable |
| 19 | RSM1 output setting | - | 1 | Specify whether to use the RSM1 output signal or not. 0 : Disable |
| 20 | RSM2 output setting | - | 1 | Specify whether to use the RSM1 output signal or not. 0 : Disable |
| 21 | RSM3 output setting | - | 1 | Specify whether to use the RSM1 output signal or not. 0 : Disable |
| 22 | RPM output setting | - | 1 | Specify whether to use the RPM output signal or not. 0 : Disable |
| 23 | SOS output setting | - | 1 | Specify whether to use the SOS output signal or not. 0 : Disable |
| 24 | Safe reference position check output setting | - | 1 | Specify whether to use the Safe reference position check output signal or not. 0 : Disable |
| 25 | Auto mode output setting | - | 1 | Specify whether to use the Auto mode outout signal or not. 0 : Disable |
| 28 | Area sensor SS2 input setting | - | 0 | Specify whether to use the Area sensor SS2 input signal or not. 0 : Disable |
| 29 | Area sensor RSM1 input setting | - | 0 | Specify whether to use the Area sensor RSM1 input signal or not. 0 : Disable |
| 30 | Area sensor RSM2 input setting | - | 0 | Specify whether to use the Area sensor RSM2 input signal or not. 0 : Disable |
| 31 | Area sensor RSM3 input setting | - | 0 | Specify whether to use the Area sensor RSM3 input signal or not. 0 : Disable |
| 32 | Area sensor TOOL0 input setting | - | 0 | Specify whether to use the Area sensor TOOL0 input signal or not.
0 : Disable |
| 33 | Area sensor TOOL1 input setting | - | 0 | Specify whether to use the Area sensor TOOL1 input signal or not.
0 : Disable |
| 34 | Area sensor TOOL2 input setting | - | 0 | Specify whether to use the Area sensor TOOL2 input signal or not.
0 : Disable |
| 35 | Area sensor TOOL3 input setting | - | 0 | Specify whether to use the Area sensor TOOL3 input signal or not.
0 : Disable |
| 36 | Area sensor monitoring area 0 disable input setting | - | 0 | Specify whether to use the Area sensor monitoring area 0 disable input signal or not.
0 : Disable |
| 37 | Area sensor monitoring area 1 disable input setting | - | 0 | Specify whether to use the Area sensor monitoring area 1 disable input signal or not.
0 : Disable |
| 38 | Area sensor monitoring area 2 disable input setting | - | 0 | Specify whether to use the Area sensor monitoring area 2 disable input signal or not.
0 : Disable |
| 39 | Area sensor monitoring area 3 disable input setting | - | 0 | Specify whether to use the Area sensor monitoring area 3 disable input signal or not.
0 : Disable |
| 40 | Area sensor monitoring disable input setting | - | 0 | Specify whether to use the Area sensor monitoring disable input signal or not.
0 : Disable |
| 41 | Area sensor SS1 input setting | - | 0 | Specify whether to use the Area sensor SS1 input signal or not.
0 : Disable |
| 42 | Area sensor Safe Homing input setting | - | 0 | Specify whether to use the Area sensor Safe Homing input signal or not.
0 : Disable |
| 66 | SLP Setting | - | 255 | Specify to enable/disable the SLP function for each axis by bit-unit. For each bit value, "1" is enable, "0" is disable. As a default, all axes are enabled. 0 bit : 1st axis (Example 1) If you enable 1st to 6th axis and disable 7th and 8th axis, 0 to 5 bits are "1" and 6 and 7 bits are "0", therefore specify "63". (Example 2) If you disable 7th axis only, only 6 bit is "0", therefore specify "191". |
| 70 | Max payload setting(*1) | g | 0 | Enter the total mass of tool and work. Enter the expected maximum Mass of Payload value where User parameter (No.1) or Payload command would specify for the actual application. |
| 71 | Servo response delay at Emergency stop | ms | 32 | Parameter to adjust the expected position of the SLP function and RPM function. If you set larger value for this parameter, the detection timing of the above safety function will be earlier. For example, if a robot enters a certain monitoring area, when larger value is set for this parameter, the SS1 function will work at the timing earlier than before setting larger value. This parameter does not adjust the emergency-stop input (including emergency-stop button) processing. Therefore, even if you change this parameter, it will not affect the stopping time and distance at an emergency stop by the emergency-stop input (including the emergency-stop button). If you change this parameter, please make sure to check the motion in order to secure operator’s safety. |
| 89 | Safe reference position (J1) | deg. mm | 0.000 | Enter the Safe reference position (J1). |
| 90 | Safe reference position (J2) | deg. mm | 0.000 | Enter the Safe reference position (J2). |
| 91 | Safe reference position (J3) | deg. mm | 0.000 | Enter the Safe reference position (J3) |
| 92 | Safe reference position (J4) | deg. mm | 0.000 | Enter the Safe reference position (J4) |
| 93 | Safe reference position (J5) | deg. mm | 0.000 | Enter the Safe reference position (J5) |
| 94 | Safe reference position (J6) | deg. mm | 0.000 | Enter the Safe reference position (J6) |
| 95 | Safe reference position (J7) | deg. mm | 0.000 | Enter the Safe reference position (J7) |
| 96 | Safe reference position (J8) | deg. mm | 0.000 | Enter the Safe reference position (J8) |
| 97 | Safe reference position tolerance (J1) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J1) |
| 98 | Safe reference position tolerance (J2) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J2) |
| 99 | Safe reference position tolerance (J3) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J3) |
| 100 | Safe reference position tolerance (J4) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J4) |
| 101 | Safe reference position tolerance (J5) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J5) |
| 102 | Safe reference position tolerance (J6) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J6) |
| 103 | Safe reference position tolerance (J7) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J7) |
| 104 | Safe reference position tolerance (J8) | deg. mm | 0.010 | Enter the maximum allowable deviation in degree or millimeter from the Safe reference position under the Safe reference position check function. (J8) |
| 105 | Positional tolerance while Power-OFF (J1) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J1) |
| 106 | Positional tolerance while Power-OFF (J2) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J2) |
| 107 | Positional tolerance while Power-OFF (J3) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J3) |
| 108 | Positional tolerance while Power-OFF (J4) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J4) |
| 109 | Positional tolerance while Power-OFF (J5) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J5) |
| 110 | Positional tolerance while Power-OFF (J6) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J6) |
| 111 | Positional tolerance while Power-OFF (J7) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J7) |
| 112 | Positional tolerance while Power-OFF (J8) | deg. mm | 0.010 | Enter the maximum allowable positional difference between controller power-OFF and power-ON under the Safe reference position check function. (J8) |
*1： In the Safety motion specification, if [Mass of payload] of Setting condition (User parameter) is smaller than [Max payload setting] of Safety-related parameters, an error occurs at the controller startup. Also, if [Max payload setting] of Safety-related parameters is smaller than the [Mass of payload] of the designated item, an error occurs at the execution of Payload command. (Available for Ver.2.5.* or later)
ID : 2614