Sls Function (Speed Monitoring Function) - Mitsubishi Electric MELFA CR750 Series Instruction Manual

4 Safety monitoring function
4.3.4

SLS function (Speed monitoring function)

The behavior of SLS function depends on the version combination, "Version Combination A" or "Version
Combination B" for the software version on the controller and RT ToolBox2.
Table 4-1 Differences in the SLS function dependent on the version combination
Item
Behavior in Mode 1
Setting range
of monitoring speed
Operation speed
restriction
Please note that even if the software combination corresponds to the "Version Combination B" in your system,
this function can be operated in the equivalent behavior as in the "Version Combination A".
4.3.4.1 SLS function in the "Version Combination A"
(1) Overview
The function specifies the monitoring speed for the robot TCP speed to restrain the speed command below
the monitoring speed, and monitors the actual TCP speed (command/feedback) does not exceed the
monitoring speed. If the actual TCP speed exceeds the monitoring speed, error H2300 (detected by the
speed feedback) or H2310 (detected by the speed command) occurs and the robot turns the servo OFF to
stop.
(2) Starting the SLS function
The SLS function is activated when the monitoring mode is switched from Mode 1 to Mode 2/3/M.
For example, the speed monitoring is started when the DSI1 signal is turned OFF and the monitoring mode is
switched from Mode 1 to Mode 2 after the reaction time passes. During the speed monitoring, the function
monitors the TCP speed to see if it is below the monitoring speed. When the DSI1 signal is turned ON, the
monitoring mode returns to Mode 1 and the speed monitoring is ended after the reaction time passes.
4-26 Safety monitoring function
Version Combination A
Speed Monitoring is not performed.
Speed above 250mm/s
specified.
Operation speed is restricted in
accordance with the setting value of
monitoring speed.
Version Combination B
Speed Monitoring is performed.
cannot be Speed above 250mm/s can be specified.
The behavior does not depend on the
monitoring speed. Specify the speed
limit OVRD (parameter SLSMTOV) for
restricting the operation speed.