Safe Stop 1 (SS1)

Outline and Operation Patterns for Safe Stop 1 (SS1)

Safe Stop 1 (SS1) is a function that monitors whether the robot decelerates and stops normally when there is an emergency stop or a protective stop. If an abnormal deceleration of TCP speed is detected during stop control, Safe Torque OFF (STO) is immediately executed.

Safe Stop 1 is equivalent to stop category 1. (Reference standard: IEC 60204-1)

Relationship between Safe Stop 1 (SS1) and the STO statement (normal state)
If stop control is normal, Safe Torque OFF (STO) is executed after stop control is completed.

Relationship between Safe Stop 1 (SS1) and the STO statement (when deceleration abnormality is detected)
If an abnormal deceleration of TCP speed is observed during stop control, Safe Torque OFF (STO) is immediately executed.

Relationship between Safe Stop 1 (SS1) and the STO statement (after the monitoring time)
If the TCP speed does not decelerate to 1 [mm/sec] or less even after a certain period of time from the start of stop control, Safe Torque OFF (STO) is immediately executed.