Safe Stop 2 (Ss2) - Mitsubishi Electric RV-FR Series Instruction Manual

4 SAFETY MONITORING FUNCTIONS

Safe stop 2 (SS2)

4.5.4
(1) Overview
The SS2 command input starts deceleration and, after the motors of all the axes decelerate below specified
speeds, SOS is started. (This function corresponds to stop category 2 of IEC60204-1.)
Failure in deceleration within a specified maximum delay causes error H2281 (SS2 deceleration timeout).
(2) Operation sequence
(a) SS2 command (Normal operation)
The operation sequence of the SS2 function is as follows. Enabling the SS2 command while the robot is in
operation starts the SS2 function. The triggered SS2 starts deceleration at a specified deceleration rate.
After the speed command reaches the safety speed, SOS starts position monitoring with servo-on state
kept. Disabling the SS2 command restores the normal operation state.
Speed
速度
Safe stop speed
安全停止速度
0r/min
Enabled
有効
SS2 command
SS2指令
Disabled
無効
Enabled
有効
SS2 monitoring
SS2監視
Disabled
無効
Enabled
有効
SOS monitoring
SOS監視
Disabled
無効
Brake
ブレーキ Released 解除
Locked
ロック
Motor power supply
モータ電源供給 ON
OFF
4-48 Safety Monitoring Functions
Speed
速度 SS2
Command
指令
Deceleration delay
減速遅延時間
Fig. 4-38: SS2 command (Normal operation)
SOS
Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Time
時間