Y_MS_GetSafetyCRC
Read the CRC information of a safety-related file for MotomanSync controller. CRC information is used to check if a file has changed. It returns a CRC code (up to 10 digits) and a timestamp of the last update to the file.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| V | AxesGroup | #19344 | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| V | FileType | DINT | Type of safety CRC file from MotomanSync controller. See notes for detailed description. Valid values are 0 to 22. | 0 |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| B | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
| V | CRCData | #66345 | CRC information of the specified safety-related file for MotomanSync controller. | |
Notes
- CRC data is generated when the file is written only if FSU option functions are already enabled. If the FSU option function settings were enabled AFTER the files were written, the CRC data may still return 0. Go back into the files and disable/enable them again with the same settings and it will generate a CRC code. The FSU (Functional Safety Unit) is an option that may be enabled during commissioning of the MotomanSync controller by Yaskawa.
- FileType corresponds to:
More details available in Manual No. HW1483576 (YRC1000 Options Instructions for Functional Safety Function) or HW1484544 (YRC1000micro Options Instructions for Functional Safety Function).Value Description File How to trigger 0 Tool TOOL.CND
ROBOT -> TOOL
1 Tool Interference
TOOLINTF.DAT
ROBOT -> TOOL INTERFERE
2 Absolute Data (Home position data)
ABSO.DAT
ROBOT -> HOME POSITION
3 Axis Range Limit
AXRNGLMT.DAT SAFETY FUNC. -> AXIS RANGE LIMIT
4 Axis Speed Monitor
AXSPDMON.DAT
SAFETY FUNC. -> AXIS SPEED MONITOR
5 Robot Range Limit
RBRNGLMT.DAT SAFETY FUNC. -> ROBOT RANGE LIMIT
6 Speed Limit
SPDLMT.DAT SAFETY FUNC. -> SPEED LIMIT
7 Tool Angle Monitor
TLANGMON.DAT SAFETY FUNC. -> TOOL ANGLE MONITOR
8 Tool Change / Tool Select
TLCHGMON.DAT SAFETY FUNC. -> TOOL CHANGE MONITOR / TOOL NUMBER SELECT
9 Unused
- - 10 Unused
- - 11 Safety Logic Circuit, User Part
YSFLOGIC.DAT SAFETY FUNC. -> SAFETY LOGIC CIRCUIT (USER page)
12 Safety Logic Circuit, System Part YSFLOGIC.DAT
Must be changed by Yaskawa
13 FD Parameters (Function definition parameters) FD.PRM Must be changed by Yaskawa 14 SD Parameters (System definition parameters) SD.PRM Must be changed by Yaskawa
15 SV Parameters (Servo parameters) SV.PRM Must be changed by Yaskawa
16 SVM Parameters (Servo motor parameters) SVM.PRM Must be changed by Yaskawa
17 RC Parameters (Robot matching parameters) RC.PRM Must be changed by Yaskawa
18 RO Parameters (Coordinate home position parameters) RO.PRM Must be changed by Yaskawa
19 MF Parameters (Motion function parameters) MF.PRM Must be changed by Yaskawa
20 RE Parameters (Robot control expand parameters) RE.PRM Must be changed by Yaskawa
21 FMS Parameters (Sa function parameters) FMS.PRM Must be changed by Yaskawa
22 SC Parameters (System matching parameters)
SC.PRM
Must be changed by Yaskawa
- The user may verify that the files can be read by checking MotomanSync controller using the programming pendant.
- Online Mode -> Safety security mode -> SAFETY FUNC. -> TOTAL CRC DISPLAY -> press PAGE on screen.
- All readable files should show up. May have to arrow key down to see all of them.
- If the file has been set, it should show up on the pendant screen. CRC (LAST UPDATE) should match Y_MS_GetSafetyCRC output. Below is the tool file (FileType = 0).
- If the file has not been set, the pendant will not show values, and Y_MS_GetSafetyCRC will return 0s. The following is an example for speed limit file (FileType = 6) that has never been set
- See MotomanSync controller's manual for Functional Safety Function for more details on how to use the safety functions.
Error Description
See the Function Block ErrorID List.