Programa curricular
2. ÁREA DE NATURALEZA
By the following setting, when OPSFTY1 is open, cont rol stop occurs in AUTO m ode. E-Stop occurs in T1/T2 mode.
SSO[1:C_SVOFF] = !SSI[7:AUTO] OR SPI[1:OPSFTY1] SSO[3:C_EXEMG] = SSI[7:AUTO] OR SPI[1:OPSFTY1]
4.1
SAFE I/O
Safe I/O are safe signals that can be used in DCS. Safe I/O is expressed by a 3 character type and an index number, such as "SPI[1]".
The following is a list of the Safe I/O types. In the Input/Output column, the safe I/O that can be specified on the left side of an I/O connect is "Output", the other Safe I/O is "Input".
The status of the "Output" Safe I/O is set by Safe I/O connect function only. All "Output" Safe I/O except SSO[1-5] are OFF at power up. SSO[1-5] are ON.
4.SAFE I/O CONNECT FUNCTION MAROCDCSF08091E REV D
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The Safe I/O Connect function is a Cat.4, PL e function, but some safe I/O are Cat.3, PL d because the source function is Cat.3, PL d. The column "Cat.,PL" shows the Cat. and PL of each Safe I/O.
Type of Safe I/O Type Range of index Input / Output Cat. PL Slot Description
SPI 1-4 Input Cat.4 PL e
1 Safe Panel Input
Safe input on Panel board OPSFTY1-4.
ON: Both of dual circuit are CLOSED, OFF: Either circuit is OPEN R-30iA Mate does not have OPSFTY1-4. SPI[1-4] are always OFF. SPO 1-2 Output Cat.4
PL e
2 Safe Panel Output
Safe output on Panel board ESPDO1-2. R-30iA Mate does not have ESPDO1-2.
To use ESPDO, fault check is necessary. SSI 1-11 Input Cat.4
PL e
3 Safe System Input
Status of system safety information such as E-Stop button. Detail is specified in the table "Detail of SSI".
SSO 1-5 Output Cat.4 PL e
4 Safe System Output
Commands to system such as request E-Stop. Detail is specified in the table "Detail of SSO". SIR 1-64 Output Cat.4
PL e
5 Safe Internal Relay
Internal relay that can be used in Safe I/O connect. Status is OFF at power up.
CPC 1-32 Input Cat.3 PL d
6 Cartesian Position Check
Status of Cartesian Position Check functions.
When the status is SAFE, it is ON. Otherwise, it is OFF. CSC 1-16 Input Cat.3
PL d
7 Cartesian Speed Check
Status of Cartesian Speed Check functions.
When the status is SAFE, it is ON. Otherwise, it is OFF. JPC 1-40 Input Cat.3
PL d
8 Joint Position Check
Status of Joint Position Check functions.
When the status is SAFE, it is ON. Otherwise, it is OFF. JSC 1-40 Input Cat.3
PL d
9 Joint Speed Check
Status of Joint Speed Check functions.
When the status is SAFE, it is ON. Otherwise, it is OFF. CSI 1-64 Input Cat.4
PL e
10 CIP Safety Input
Inputs from the DeviceNet Safety network. CSO 1-64 Output Cat.4
PL e
11 CIP Safety Output
Outputs to the DeviceNet Safety network. CCL 1-4 Input Cat.4
PL e
12 Configuration Change Latch
Shows whether the DCS parameters are changed or not.
When the current signature and the latched signature are the same in the DCS signature menu, it is ON. When they are different, it is OFF. Index 1-4 correspond to the items in DCS signature menu as follows. 1: Total (CCL[1] is ON when 2, 3 and 4 are ON even though the
current signature and latched signature are different) 2: Base
3: Pos./Speed 4: I/O Connect
MAROCDCSF08091E REV D
4.SAFE I/O CONNECT FUNCTION
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When this Safe I/O is changed from OFF to ON, the current signature is copied to the latched signature for corresponding items in the DCS signature menu and the corresponding CCL is turned ON.
The correspondence of the index is the same as CCL.
When CCR[1] is changed from OFF to ON, the current signature is copied to the latched signature for all items in the DCS signature menu and all CCL[1-4] are turned ON.
--- 0 Not defined.
This means no safe I/O is defined. ON 0 Input Cat.4
PL e
Always ON OFF 0 Input Cat.4
PL e
Always OFF
Detail of SSI
Index Name Description
1 SVOFF The status of EGS1 and EGS2 on the panel board. ON: Both are CLOSED, OFF: Either circuit is OPEN 2 FENCE The status of EAS1 and EAS2 on the panel board.
ON: Both are CLOSED, OFF: Either circuit is OPEN 3 EXEMG The status of EES1 and EES2 on the panel board.
ON: Both are CLOSED, OFF: Either circuit is OPEN 4 SVDISC The status of SD1 and SD2 on the panel board.
ON: Both are CLOSED, OFF: Either circuit is OPEN
5 NTED The status of NTED1 and NTED2 on the panel board and the Teach Pendant deadman switches.
ON: Both NTED1 and NTED2 are CLOSED, and either deadman switch on the Teach Pendant is gripped normally.
OFF: NTED1 or NTED2 is OPEN or both deadman switches are released or gripped strongly.
6 OPEMG The status of the Operator Panel E-Stop button and the Teach Pendant E-Stop button ON: Both are released., OFF: Either E-stop is pressed.
7 AUTO ON: AUTO mode, OFF: Not AUTO mode 8 T1 ON: T1 Mode, OFF: Not T1 Mode 9 T2 ON: T2 Mode, OFF: Not T2 Mode
10 MCC ON: Servo power supply is ON, OFF: Servo power supply is OFF. 11 CSBP CIP Safety ByPassed
ON: "Enable/Bypass" in DCS CIP safety menu is BYPASS, OFF: Not BYPASS
Detail of SSO
Index Name Description
1 C_SVOFF When this Safe I/O is OFF, the robot decelerates then stops and the servo power supply is turned off. "SRVO-406 DCS SSO SVOFF input" occurs.
2 C_FENCE When this Safe I/O is OFF in AUTO mode, the robot decelerates then stops and the servo power supply is turned off. "SRVO-407 DCS SSO Fence Open" occurs. 3 C_EXEMG When this Safe I/O is OFF, the servo power supply is turned off and the robot stops
4.SAFE I/O CONNECT FUNCTION MAROCDCSF08091E REV D
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4 C_SVDISC When this Safe I/O is OFF, the servo power supply is turned off and the robot stops immediately. "SRVO-409 DCS SSO Servo Disconnect" occurs.
5 C_NTED When this Safe I/O is OFF in T1 or T2 mode, the servo power supply is turned off and the robot stops immediately. "SRVO-410 DCS SSO NTED input" occurs.