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183574-1CD
183574-1CD
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Introduction
1.4 System Overview and Variations
ArcWorld 50/50S/52/52S
1.4.4.3 PLAY mode
In PLAY mode, a combination of FSU-based “Robot Range Limiting” and
“Stop Position Monitoring” ensures safe operation of the cell.
The FSU-based “Stop Position Monitoring” function is used to ensure that
the appropriate headstock remains stationary in PLAY mode anytime the
barrier door at the corresponding station is open or not fully closed. The
Robot is also restricted from entering the station until the barrier door at
the station is closed. This Robot motion restriction is enforced by the
“Robot Range Limit” function.
Also in PLAY mode, the Controller monitors that the Safety Gate is closed,
ensuring that someone is not accessing the work cell. The Safety Gate
dual contacts are wired directly into the Machine Safety Unit's dedicated
inputs.
• Robot 1 - Robot Range Limit Files
– Robot Range Limits: Five zones define the Robot's access. Using
FSU logic these zones prevent or grant access to the Robot based
on TEACH/PLAY conditions and barrier door status.
NOTICE
Some numeric values in the screen shots that follow may not represent
actual values for your system. The general shape and theory of
operation remain constant. Consult YASKAWA for specific system
configurations.
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