AUXILIARY AXIS SERVO OFF (LOCAL STOP) FUNCTION

Auxiliary axis servo off (local stop) function (A05B-2600-J806) is the function to prevent the unexpected motion of auxiliary axis by cutting off the servo power of the auxiliary axis.

This function needs the special hardware.

This manual describes the operation of DCS local stop menu.

Please refer to "R-30iB Local Stop function with STO Maintenance and Order Manual" (A-95028E) about the hardware of Auxiliary axis servo off (local stop) function and the setting value of DCS local stop menu according to the hardware configuration.

Please refer to chapter "AUXILIARY AXIS SERVO OFF (LOCAL STOP) FUNCTION" in "FANUC Robot Series R-30iB CONTROLLER Option Function OPERATOR'S MANUAL" (B-83284EN-2) about the software except DCS local stop menu.

Maximum 8 local stop can be defined in DCS local stop menu. The following items should be setup for each local stop.

STO-OUT

Set the safety output signal that commands auxiliary axis servo off. The signal is OFF when auxiliary axis servo off is requested. Set the index of SPO. When the index is set to 0, this local stop is disabled.

STO-FB

Set the input signal to monitor the auxiliary axis servo off status. This signal is ON when auxiliary axis servo is off. The monitoring signal is single channel input, and one channel of the dual channel safety input (SFDI) is used. Set the channel to use as -1 or -2.

The SPI that is used for STO-FB cannot be used for the other safety functions such as Safe I/O connect, Safety PMC and Position/Speed check function. And the status of the SPI is always OFF in Safe I/O status menu and so on.

Fence

Set the safety input signal that connected to the safety device that detects an operator is in the working space near the auxiliary axis such as light curtain. Set the Safe I/O type and index.

Normally SPI is used as Safe I/O type, but the other Safe I/O type can be used.

The following alarm occurs according to the status of these signals.

When auxiliary axis is not servo off and the Safe I/O of Fence is OFF, the alarm "SRVO-446 DCS LS Fence open" occurs and the servo power of all axes are turned off.

When auxiliary axis is servo off, the alarm does not occur even though the Safe I/O of Fence is OFF.

The stop type of the alarm "SRVO-446 DCS LS Fence open" is selected as "Power-of stop" or

"Controlled stop". And the alarm can be ignored in T1/T2 mode by setting.

When STO-OUT is turned OFF, the auxiliary axis servo off is commended, then STO-FB is turned ON when the auxiliary axis servo is turned OFF. The alarm "SRVO-447 DCS LS STO-FB alarm" occurs when STO-FB is not turned ON for 1 second or more.

11.AUXILIARY AXIS SERVO OFF (LOCAL STOP) FUNCTION B-83184EN/04

When STO-OUT is turned ON, the auxiliary axis servo on is commended, then STO-FB is turned OFF when the auxiliary axis servo is turned ON. The alarm "SRVO-447 DCS LS STO-FB alarm" occurs when STO-FB is not turned OFF for 1 second or more.

When the alarm "SRVO-447 DCS LS STO-FB alarm" occurs, please check the hardware connection and the setting of DCS local stop menu. The this alarm occurs, all safety outputs are turned OFF.

WARNING

At the initial start-up, the operation check and validation of the wiring for safety signals should be carried out, and then the wiring should be protected by the cable duct.

WARNING

If local stop setting is set incorrectly, the safety function will not work, and serious personal injury could result. When local stop settings are changed, the values must be verified and the function must be tested again.

11.1 DCS LOCAL STOP MENU

The DCS local stop menu is displayed by pressing the ENTER key or the F3(DETAIL) key while on the

"Local stop setup" item in the DCS Top menu.

DCS

Items in DCS Local stop menu

Item Description Stop type Used to select the stop type to be performed when the Safe I/O of Fence is OFF in case of the

auxiliary axis is not servo off.

Power-off stop: Motor power is shut down immediately.

Control stop: Deceleration stop, then motor power is shut down.

(Motor power shutdown is delayed for a maximum of 1 second.) Fence in T1/T2

mode

ENABLE: The alarm occurs regardless of mode when the Safe I/O of Fence is OFF in case of the auxiliary axis is not servo off.

DISABLE: The alarm always occurs in AUTO mode when the Safe I/O of Fence is OFF in case of the auxiliary axis is not servo off, but the alarm does not occur in T1 nor T2 mode.

STO-OUT Set the safety output signal that commands auxiliary axis servo off. The signal is OFF when auxiliary axis servo off is requested.

When the specified Safe I/O is ON, "@" is displayed on the left side of the Safe I/O name.

- 152 -

Item Description STO-FB Set the input signal to monitor the auxiliary axis servo off status. This signal is ON when

auxiliary axis servo is off. The monitoring signal is single channel input, and one channel of the dual channel safety input (SFDI) is used. Set the channel to use as -1 or -2.

When the specified Safe I/O is ON, "@" is displayed on the left side of the Safe I/O name.

Fence Set the safety input signal that connected to the safety device that detects an operator is in the working space near the auxiliary axis such as light curtain.

When the specified Safe I/O is ON, "@" is displayed on the left side of the Safe I/O name.

Status The status of each line is displayed.

OK: Setting parameter and DCS parameter are the same.

CHGD: Setting parameter is changed, but not applied to DCS parameter.

PEND: Setting parameter is changed and applied to DCS parameter, but controller power has not been cycled.

Operation in DCS Local stop menu

Operation Description F5(UNDO) UNDO the items in this menu. The setting parameters become the same as the current DCS

parameters.

PREV The DCS Top menu is displayed.