Setting Safety Function Parameters Related to Safety Limited Speed (SLS)
These settings are used by the Safety Limited Speed (SLS) function. Set the following items:
- TCP Offset
- Safety Limited Speed
WARNING
Be sure to set TCP Offset to properly operate Safety Limited Speed.
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.
KEY POINTS
- SLS_1, SLS_2, and SLS_3 can be edited only when a function is assigned to the safety input.
- The TCP Offset should be set to the hand tip position* using the Tool 0 coordinate system as a reference.
*: The position where the hand moves at its fastest during robot operation. Or, the position farthest from the tip of the ball screw linear motion mechanism. - To achieve control that does not exceed the Safety Limited Speed (SLS), it must be explicitly set using the SPEL+ command.
The robot makes an emergency stop if Safety Limited Speed (SLS) is enabled and the robot speed exceeds the monitoring speed. - If SLS_1, SLS_2, and SLS_3 are enabled, the next SPEL+ command is automatically set when the controller starts up.
- SLS number set in SF_LimitSpeedS, 0
- SLS number set in SF_LimitSpeedSEnable, On
- SF_LimitSpeedS and SF_LimitSpeedSEnable are functions that adjust the speed at the tool position selected by the Tool command.
For details, refer to the following manual.
"SPEL+ Language Reference" - The speed of Monitored Joints can be acquired with SF_PeakSpeedS/SF_RealSpeedS. In addition, the joint speed of Monitored Joints can be acquired with PeakSpeed.
For details, refer to the following manual.
"SPEL+ Language Reference"
a: Control using SPEL+ to ensure that the Maximum Speed (mm/s) is not exceeded referring to the SF_PeakSpeedS command value.
b: Referring to the PeakSpeed command values, control with SPEL+ to avoid exceeding the Maximum Joint Speed (%).
| No | Name | Function | Notes |
|---|---|---|---|
| 1. TCP Offset Settings | These set the TCP Offset [mm]. | ||
| 1.1 | X_TCP | Setting for the offset position [mm] of the X axis | - |
| 1.2 | Y_TCP | Setting for the offset position [mm] of the Y axis | - |
| 1.3 | Z_TCP | Setting for the offset position [mm] of the Z axis | - |
| No | Name | Function | Notes |
|---|---|---|---|
| 2. Joint Angle Limit | These configure settings related to the Joint Angle Limit. | ||
| 2.1 | Check box | Setting for whether to execute Joint Angle Limit | This is a function of SLS_1 (safety function option). To use this, enable SLS_1 in the safety input settings. |
| 2.2 | Maximum Joint Angle | Setting for the limit angle [× 0.1 deg] | |
| No | Name | Function | Notes |
|---|---|---|---|
| 3 | SLS_T Settings | Setting for Maximum Speed in TEACH mode and TEST T1 mode | The following settings are available: - Maximum Speed setting (required) Set at 250 [mm/sec] or less. - Maximum Joint Speed setting (optional) This is always enabled for the Monitored Joints other than the Maximum Joint Speed. This cannot be disabled. |
| 4 | SLS_T2 Settings | Setting for Maximum Speed in TEST T2 mode | The following settings are available: - Maximum Speed setting (required) - Maximum Joint Speed setting (optional) This is always enabled for the Monitored Joints other than the Maximum Joint Speed. This cannot be disabled. |
| 5 | SLS_1 Settings | Setting for Maximum Speed in SLS_1 | Safety Function options. The following settings are available: - Maximum Speed setting (required) - Delay Time (optional) - Monitored Joints (At least one must be selected, including the Maximum Joint Speed) - Maximum Joint Speed setting (required) |
| 6 | SLS_2 Settings | Setting for Maximum Speed in SLS_2 | |
| 7 | SLS_3 Settings | Setting for Maximum Speed in SLS_3 |
| No | Name | Function | Notes |
|---|---|---|---|
| A | Maximum Speed (mm/s) | Setting for Maximum Speed [mm/sec] in each limit | Make this setting based on the speeds that can be obtained with the SF_PeakSpeedS command and SF_RealSpeedS command. |
| B | Delay Time (msec) | Setting for Delay Time [ms] in each limit | - |
| C | Monitored Joints | Settings for Monitored Joints in each limit | Be sure to set up at least one joint. |
| C.1 | J2 | Setting for whether to monitor J2 speed | - |
| C.2 | J3 | Setting for whether to monitor J3 speed | This can only be set for a 6-Axis robot. |
| C.3 | J5 | Setting for whether to monitor J5 speed | This can only be set for a 6-Axis robot. |
| C.4 | Hand | Setting for whether to monitor hand speed (TCP speed) | - |
| D | Joint rotation setting | Setting for joint speed monitoring in each limit | - |
| D.1 | Joints | Setting for whether to monitor joint speed | - |
| D.2 | Maximum Joint Speed [%] | Setting for Maximum Speed of joint axis rotation or vertical motion [%] | Set this as a percentage [%] of the maximum speed. Set this using the PeakSpeed command referring to the absolute obtainable peak speed value. |