Functions And Configuration; Overview - Mitsubishi Electric MELFA CR800 Series Instruction Manual

1. FUNCTIONS AND CONFIGURATION

1.1 Overview

This document explains how to use the safety monitoring functions with the robot safety option. As for the functions
available in the standard robot controller and the operation method, refer to the instruction manual provided with
the robot controller.
The robot safety option expands the safety monitoring function for the CR800 series controller. The main functions
are shown below.
Function
Safety logic edit
Safe stop function 1
Safe stop function 2
Safely-limited speed
function
Safely-limited
position function
Tab. 1-1: Safety monitoring functions overview
Function Outline
Input This allows defining conditions to trigger the safety
monitoring functions.
Safety input signals from external sensors (laser
scanners, light curtains, etc.) and robot area
information can be combined to configure the
conditions to trigger the safety monitoring functions.
Output This allows outputting safety signals based on the
safety monitoring functions and area information. This
is used for displaying safety states or connecting other
safety devices.
SS1 This is a function to stop the robot safely. After
(STO) stopping the robot, power off the motors.
SS2 This is a function to stop the robot safely. While the
(SOS) motor control keeps working after the robot stops, this
function monitors the robot so that it does not continue
to operate.
SLS This is a function to monitor the robot arm and robot
tools so that their speed does not exceed a specified
limit. This can monitor the speeds both in XYZ
coordinates and joint coordinates.
SLP This is a function to monitor the position of the robot
arm and robot tools so that they do not enter
safeguarded spaces. Safeguarded spaces can be
specified with planes and areas.
1 FUNCTIONS AND CONFIGURATION
See:
4.4 Safety Logic
Edit
4.5.3 Safe stop 1
(SS1)
4.5.4 Safe stop 2
(SS2)
4.5.5 Safely-limited
speed function
(SLS)
4.5.6 Safely-limited
position function
(SLP)
Overview 1-1