Mitsubishi Electric MELFA CR800 Series Instruction Manual page 70

4 SAFETY MONITORING FUNCTIONS
(d) When the robot moves during the SOS monitoring
When one of the following items exceeds the allowable range during the SOS monitoring, the SS1
function stops the robot.
(i) Joint position command
(ii) Joint position FB
(iii) Joint speed command
(iv) Joint speed FB
For (i) and (ii), the values are recorded at the beginning of the SOS monitoring and the judgments are
made based on the differences between the values and the current ones.
Joint speed command
関節速度指令
Joint speed FB
関節速度FB
Joint position command
関節位置指令
Joint position FB
関節位置FB
Enabled
有効
SOS monitoring
SOS監視
Disabled
無効
Enabled
STO monitoring
STO監視 有効
Disabled
無効
(e) When servos are turned off during the SOS monitoring
Turning off servos when the SS2 command is enabled disables the SS2 monitoring and the SOS
monitoring. Turning on the servos again with the SS2 command enabled will enable the SOS monitoring
200 ms after the servos are turned on.
ON
Servo-on/off
サーボON/OFF
OFF
Enabled
有効
SS2 command
SS2指令
Disabled 無効
Enabled
有効
SS2 monitoring
SS2監視
無効
Disabled
Enabled
有効
SOS monitoring
SOS監視
無効
Disabled
Fig. 4-35: When servos are turned off during the SOS monitoring
4-60 Safety Monitoring Functions
0
Position at the beginning of the SOS monitoring
SOS監視開始時の位置
Fig. 4-34: When the robot moves during the SOS monitoring
Allowable speed
速度許容値
Allowable position
位置許容値
200ms