Safely-Limited Speed Function (Sls) - Mitsubishi Electric CR800-R Instruction Manual

Safely-limited speed function (SLS)

4.5.5
(1) Overview
This is a function to monitor the robot and the robot tool speeds so that they are under specified speed limits.
When they are above a speed limit, the SS1 function stops the robot.
Configuration of up to four different types (SLS1, SLS2, SLS3, SLSM) of speed monitoring conditions are
supported. During SLS monitoring, the devices move at speeds specified in Speed Limit OVRD.
(2) Operation sequence
(a) SLS_ function basic operation
Enabling the SLS_ command starts the SLS function. The moment the SLS_ command is enabled,
deceleration starts at rates specified in Speed Limit OVRD and, after the deceleration monitoring time elapses,
the speed monitoring (SLS monitoring) starts.
Function Functional
SLS1
SLS2
SLS3
SLSM
Speed command
速度指令
Speed feedback
速度ﾌｨｰﾄﾞﾊﾞｯｸ
SLS monitoring speed
Enabled
有効
SLS_ command
SLS_指令
Disabled
無効
Enabled
有効
SLS_ monitoring
SLS_監視
Disabled
無効
Table 4-9: SLS function start conditions
condition
SLS1 command
input
SLS2 command
input
SLS3 command
input
SLSM
command input
Speed
速度
Command 指令
SLS監視速度
Fig. 4-42: SLS_ function basic operation
Description
When the signal assigned to the SLS1
command is input
When the signal assigned to the SLS2
command is input
When the signal assigned to the SLS3
command is input
When the signal assigned to the SLSM
command is input
SLS
Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Deceleration
減速監視時間
monitoring time
4 SAFETY MONITORING FUNCTIONS
Time
時間
Safety Monitoring Functions 4-55