Safety Limited Position (SLP)
Outline and Operation Patterns for Safety Limited Position (SLP)
Safety Limited Position (SLP) is a function that monitors the robot's operating position. If the system detects that, during robot operation, the robot monitored range has entered the monitored area, then 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
Safety Limited Position (SLP) is a safety function option.
WARNING
- Please set the motion range 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"
- If the robot speed is limited by the Safety Limited Speed (SLS), the restricted area can be determined based on the stopping distance calculated from the speed set by the Safety Limited Speed (SLS). If you are not using the Safety Limited Speed (SLS) function, determine the restricted area considering the stopping distance calculated from the robot's maximum speed.
Operation modes and enabling/disabling Safety Limited Position (SLP)
When the operation mode is AUTO, TEST T1, or TEST T2, the safety inputs can be used to enable or disable the Monitored Areas and Joint Angle Limit.
KEY POINTS
For details on monitoring area, refer to the following section.
For details on the Joint Angle Limit, refer to the following section.
When the operation mode is TEACH, Safety Limited Position (SLP) is always disabled.
| Safety Limited Position (SLP) patterns | Enable or disable for each operation mode B: Enable or disable based on safety inputs -: Always disable | ||||
|---|---|---|---|---|---|
| AUTO | TEACH | TEST T1 | TEST T2 | ||
| Optional safety functions | SLP_A | B | - | B | B |
| SLP_B | B | - | B | B | |
| SLP_C | B | - | B | B | |
Relationship between Safety Limited Position (SLP) and the STO statement
If the system detects that, during robot operation, the robot monitored range has exceeded the monitored area, then 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
