SF_LimitSpeedSEnable Statement

Sets and displays On/Off for the function that adjusts the speed of the position set by the Tool command when SLS is enabled.

Syntax
SF_LimitSpeedSEnable [SLS number [, {On | Off}]]

Parameters

SLS number

Specify the SLS number as an integer value or as a constant as shown below. Optional.

Constant	Value	Description
SLS_1	1	Speed adjustment function when SLS_1 is enabled
SLS_2	2	Speed adjustment function when SLS_2 is enabled
SLS_3	3	Speed adjustment function when SLS_3 is enabled
_SLS_T	9	Speed adjustment function when SLS_T is enabled *1
_SLS_T2	10	Speed adjustment function when SLS_T2 is enabled *1

*1 For SLS_T and SLS_T2, you cannot set the speed adjustment function with this command. SLS_T turns on the speed adjustment function when the operation modes are TEACH and TEST T1. SLS_T2 turns on the speed adjustment function when the operation mode is TEST T2. For more information, refer to the following manual:
"Robot Controller Safety Function Manual"

On | Off

Specifies On/Off for the speed adjustment function. Optional. The default setting is On.

Return Values
None

Description
Sets and displays On/Off for the function that adjusts the speed at the position set by the Tool command when the specified SLS number is monitored. When On, the speed at the position set for the tool is adjusted when SLS is enabled. When Off, the speed is not adjusted even when SLS is enabled. Regardless of the On/Off setting, the speed at the tool position is not adjusted when SLS is disabled.

If the second parameter is omitted, the speed adjustment status (On/Off) of the specified SLS number will appear.

If all parameters are omitted, the speed adjustment status (On/Off) of all SLS numbers will appear.

This command can be used with the Controllers with Safety Board.

It is available only when Safety Function Options are activated.

SF_LimitSpeedSEnable Example
How to enable the speed adjustment function for SLS_1

SF_LimitSpeedSEnable SLS_1, On

How to display the speed adjustment function status for SLS_2 (using the command window)

> SF_LimitSpeedSEnable SLS_2
SLS_2: Off

How to display the speed adjustment function status for all SLS numbers (using the command window)

> SF_LimitSpeedSEnable
SLS_1: On
SLS_2: Off
SLS_3: Off
SLS_T: On
SLS_T2: On

Note

SF_LimitSpeedSEnable cannot be used at the same time as singularity avoidance, conveyor tracking, and force control

SF_LimitSpeedSEnable is On by default. If you adjust the speed with this function during operation of singularity avoidance, conveyor tracking, or force control, an operation error (4093, 4403, or 5830 respectively) occurs.

When using SLS for these operations, set SF_LimitSpeedSEnable to Off before starting the operation.

Also, use SF_PeakSpeedS and SF_RealSpeedS to measure the robot arm operation speed, and use Speed, SpeedFactor, SpeedS, etc. to control the robot arm operation speed so that it does not exceed the SLS monitored speed (safety function parameter).
The position that is speed adjusted by SF_LimitSpeedS is the tool position selected by the Tool command.

When SF_LimitSpeedSEnable is On, the applied speed adjustment value (set by SF_LimitSpeedS) is applied to the speed at the tool position set by the Tool command. The Safety Function Manager TCP position is not automatically set in the Tool command. Use the Tool command to set the proper TCP location.

Also, if automatic speed adjustment does not function correctly, use SF_PeakSpeedS and SF_RealSpeedS to measure the robot arm operation speed. Use Speed, SpeedFactor, SpeedS, etc. to control the robot arm operation speed so that it does not exceed the SLS monitoring speed (safety function parameter).

← SF_LimitSpeedS Function SF_LimitSpeedSEnable Function →