Safe Stop 1 (Ss1) - Mitsubishi Electric MELFA CR800 Series Instruction Manual

4 SAFETY MONITORING FUNCTIONS

Safe stop 1 (SS1)

4.5.3
(1) Overview
The SS1 command input starts deceleration and, after the motors of all the axes are decreased to a speed
at or below specified speeds or a specified time elapses, motor driving power is turned off (STO is started).
(This function corresponds to stop category 1 of IEC 60204-1.)
Failure in deceleration within a specified maximum delay causes error H2280 (SS1 deceleration timeout).
(2) Operation sequence
(a) SS1 command (Normal operation)
The operation sequence of the SS1 function is as follows. The SS1 function is triggered when one of the
following situations occurs during the robot operation.
• The SS1 command is entered.
• The emergency stop is input.
• An H level error occurs.
When the SS1 function is triggered, the deceleration starts at a specified deceleration rate. After the speed
command becomes zero, the brakes are locked and STO shuts off the power supply to the servo motors.
Canceling the trigger conditions restores the normal operation state.
Speed
速度
Safe stop speed
安全停止速度
0r/min
Enabled
有効
SS1 command
SS1指令
Disabled
無効
Enabled
有効
SS1 monitoring
SS1監視
Disabled
無効
Enabled
有効
STO monitoring
STO監視
Disabled
無効
Brake
Released
ブレーキ 解除
Locked
ロック
Motor power supply
モータ電源供給 ON
OFF
<Program operation state>
Program operation suspends during the SS1 or STO monitoring. To resume it, it is necessary to cancel all
the SS1 start conditions and then perform the program start operation.
4-62 Safety Monitoring Functions
Speed
速度 SS1
Command
指令
Deceleration delay
減速遅延時間
Fig. 4-37: SS1 command (Normal operation)
STO
Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
7.1ms
Time
時間