Safely-Limited Position Function (Slp) - Mitsubishi Electric MELFA CR800 Series Instruction Manual

Safely-limited position function (SLP)

4.5.6
(1) Overview
This function defines safeguarded spaces around the robot that restrict intrusion of the robot into them and
monitors the robot arm and tools so that they do not enter the spaces. If the robot gets close to a safeguarded
space during operation, the robot stops. When a monitoring position passes through the position monitoring
plane into a safeguarded space, error H220m (m: plane or area number) occurs and the SS1 function will stop
the robot.
Caution
(2) Operation sequence
(a) SLP_ function basic operation
Enabling a SLP_ command (SLP1, SLP2, SLP3, or SLPM command) triggers the SLP function.
Robot position
ロボット位置
Enabled
有効
SLP_指令
SLP_ command
Disabled
無効
Enabled
有効
SLP_監視 SLP_ monitoring
Disabled
無効
Fig. 4-55: Safely-limited position function
This function does not guarantee that the robot arm and tools will not enter the
safeguarded spaces.
SLP
monitoring
SLP 監視
area
領域
Fig. 4-56: SLP_ function basic operation
SLP monitoring SLP 監視
4 SAFETY MONITORING FUNCTIONS
Safety Monitoring Functions 4-77