Safety Limited Speed (SLS)
Outline and Operation Patterns for Safety Limited Speed (SLS)
Safety Limited Speed (SLS) is a function that monitors the robot's operating speed. If, during operation, the robot exceeds the Maximum Speed, Safe Torque OFF (STO) is immediately executed and the robot is stopped. For details on the status, display, and notification of the Robot Controller when stopped by the safety function, refer to the following.
Precautions for Using the Robot Controller Safety Functions
WARNING
Please set the Maximum Speed considering the stopping distance. For the stopping distance, refer to the following manual.
"Manipulator Manual - Appendix B: Stopping Time and Stopping Distance at Emergency Stop"
Operation modes and enabling/disabling Safety Limited Speed (SLS)
When the operation mode is TEACH or TEST T1, the Safety Limited Speed pattern SLS_T is always enabled. Safety Limited Speed SLS_T is a standard function.
When the operation mode is TEST T2, the Safety Limited Speed pattern SLS_T2 is always enabled. Safety Limited Speed pattern SLS_T2 is a standard function.
When the operation mode is AUTO, TEST T1, or TEST T2, the safety inputs can be used to enable or disable Safety Limited Speed (SLS). In these operation modes, three patterns of Maximum Speeds, SLS_1, SLS_2, and SLS_3, can be set. Safety Limited Speed patterns SLS_1, SLS_2, and SLS_3 are safety function options.
| Safety Limited Speed (SLS) patterns | Enable or disable for each operation mode A: Always enable B: Enable or disable based on safety inputs -: Always disable | ||||
|---|---|---|---|---|---|
| AUTO | TEACH | TEST T1 | TEST T2 | ||
| Standard functions | SLS_T* | - | A | A | - |
| SLS_T2 | - | - | - | A | |
| Optional safety functions | SLS_1 | B | - | B | B |
| SLS_2 | B | - | B | B | |
| SLS_3 | B | - | B | B | |
*: For details on the Safety Limited Speed pattern SLS_T, refer to the following section.
- Safety Limited Speed (SLS) for a SCARA Manipulator
- Safety Limited Speed (SLS) for a 6-Axis Manipulator
Relationship between Safety Limited Speed (SLS) and the STO statement
If, during robot operation, the system detects that the Maximum Speed was exceeded, Safe Torque OFF (STO) is immediately executed and the robot is stopped. For details on the status, display, and notification of the Robot Controller when stopped by the safety function, refer to the following.
Precautions for Using the Robot Controller Safety Functions
