SF_LimitSpeedSEnable

Turns the speed adjustment function On/Off and displays the setting status when Safety Limited Speed (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
Turns On/Off and displays the status of the speed adjustment function when the specified SLS number is being monitored. When On, the speed of the speed adjustment targets (*1) 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 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.

It is available only when Safety Function Options are activated.

*1 See below.
SF_LimitSpeedS

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 function, an operation error (4093, 4403, or 5830 respectively) occurs. Also, if SF_LimitSpeedSEnable is On, a 4500 error occurs at the start of conveyor operation.

    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).

  • For CP motion, the part whose speed is adjusted by SF_LimitSpeedS is the currently selected tool position.

    The position specified by the TCP offset of the Safety Function Manager is not automatically set in the Tool command. Use the Tool command to set the proper TCP location.

  • This function does not guarantee that the Safety Limited Speed (SLS) monitoring speed will not be exceeded.

    If the SLS monitoring speed is exceeded, 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.

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