Mitsubishi Electric RV-FR Series Instruction Manual page 66

4 SAFETY MONITORING FUNCTIONS
(b) When a specified speed limit is exceeded during the SLS_ monitoring
Detection of a speed command or speed feedback exceeding the monitoring speed during the SLS_
monitoring causes error 230* (Abnormal SLS joint speed) or error 231* (Abnormal SLS orthogonal speed).
The operation sequence is shown in the figure below:
Speed
速度
Speed command
速度指令
Speed feedback
速度ﾌｨｰﾄﾞﾊﾞｯｸ
SLS monitoring speed
SLS監視速度
Enabled
有効
SLS_ command SLS_指令
Disabled
無効
Enabled
有効
SLS_ monitoring
SLS_監視
Disabled
無効
有効
Enabled
SS1 command
SS1指令
Enabled
有効
Fig. 4-43: When a specified speed limit is exceeded during the SLS_ monitoring
(c) When the devices fail to decelerate within a specified time with SLS enabled
With SLS enabled, if the SLS monitoring speed limit is exceeded or the devices fail to decelerate to the
monitoring speed within the SLS deceleration time, error H230* (Abnormal SLS joint speed) or error H231*
(Abnormal SLS orthogonal speed) occurs and the SS1 function stops the devices.
The errors occur when the limit overrides are too large or the deceleration monitoring time is too short.
Speed command
速度指令
Speed feedback
速度フィードバック
SLS monitoring speed
Enabled
有効
SLS_指令
SLS_ command
Disabled
無効
Enabled
有効
SLS_ monitoring
SLS_監視
Disabled
無効
ON（有効）
ON (Enabled)
SS1 command
SS1指令
OFF (Disabled)
OFF（無効）
Fig. 4-44: When the devices fail to decelerate within a specified time with SLS enabled
4-52 Safety Monitoring Functions
SLS
Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Command 指令
Deceleration
減速監視時間
monitoring time
Speed
速度
指令
Command
SLS監視速度
SLS SS1/STO
Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Deceleration
減速監視時間
monitoring time
Time
時間
Time
時間