Safety Limited Speed (SLS) for a 6-Axis Manipulator

When using Safety Limited Speed (SLS) for a 6-Axis Manipulator, there are 10 locations that are monitored at the Maximum Speed. The rotation speed of each joint is expressed as a percentage of the maximum rotation speed of the corresponding joint.

• Speed at Joint (rotation) #1 to #6 [%]
• Speed at Joint #2 (translation) [mm/sec]
• Speed at Joint #3 (translation) [mm/sec]
• Speed at Joint #5 (translation) [mm/sec]
• TCP speed [mm/sec]

The TCP offset from the tip of Joint #6 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, Joint #3, and Joint #5 speed (translation) limit is 250 [mm/sec].

The X, Y, and Z standards for the TCP offset are the Tool 0 coordinate system in Epson RC+. For table top mounting, this is as follows.

For details on the Tool 0 coordinate system for a celling mounting or wall mounting, refer to the following manual.

"Epson RC+ User's Guide - Tool Coordinate System"