Safety Limited Speed (SLS) for a SCARA Manipulator

When using Safety Limited Speed (SLS) for a SCARA Manipulator, there are six locations that are monitored at the Maximum Speed. The speed (rotation or up/down) of each joint is expressed as a percentage of the maximum speed (rotation or up/down) of that joint.

• Speed (rotation) at Joints #1, #2, and #4 [%]
• Speed (up/down) of Joint #3 (ball screw linear motion mechanism) [%]
• Speed at Joint #2 (translation) [mm/sec]
• TCP speed [mm/sec]

The TCP offset from the tip of the ball screw linear motion mechanism to the TCP is set in Safety Function Manager. With Safety Limited Speed (SLS) using the Safety Limited Speed pattern SLS_T, the TCP speed and Joint #2 speed (translation) limit is 250 [mm/sec].

CAUTION

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The TCP offset setting set in Safety Function Manager is not linked to the setting parameters set in the “Tool Settings" section of the "Epson RC+ User's Guide". Make sure that these settings are consistent.

The X, Y, and Z standards for the TCP offset are the Tool 0 coordinate system in Epson RC+.