Setting Safety Limited Position (SLP)
Perform settings to use the Safety Limited Position (SLP) function. Set the following items:
- Robot Monitored Range
- Monitored Areas
KEY POINTS
- SLP_A, SLP_B, and SLP_C can only be edited if they are assigned to safety inputs.
- This does not perform control to prevent entry into the monitored areas. Perform the following settings as necessary.
- Set the XYZ limits (XYLim) so that the robot does not enter the monitored areas.
- Set the entry detection area (Box) or the entry detection plane (Plane) considering the stopping distance around the monitored areas, and perform appropriate control when an entry is detected.
For details on XYZ limits (XYLim), entry detection area (Box), and entry detection plane (Plane), refer to the following manual.
"Epson RC+ User's Guide", "SPEL+ Language Reference"
- For SCARA Manipulators, set the J3 axis monitoring radius to a value that encompasses the hand (end effector). This value is used to determine if the hand has entered the monitored areas.
- For 6-Axis Manipulators, set the J6 axis monitoring radius to a value that encompasses the hand (end effector). This value is used to determine if the hand has entered the monitored areas.
| No | Name | Function | Notes |
|---|---|---|---|
| 1. Robot Monitored Range | Set the safety monitoring radius [mm] for each joint. | ||
| 1.1 | J2 | Setting for the monitoring radius for J2 axis | - |
| 1.2 | J3 | Setting for the monitoring radius for J3 axis | - |
| 1.3 | J5 | Setting for the monitoring radius for J5 axis | This can only be set for a 6-Axis robot. |
| 1.4 | J6 | Setting for the monitoring radius for J6 axis | This can only be set for a 6-Axis robot. |
| 2 | SLP_A | SLP_A-related settings | - |
| 3 | SLP_B | SLP_B-related settings | - |
| 4 | SLP_C | SLP_C-related settings | - |
| No | Name | Function | Notes |
|---|---|---|---|
| A | XY plane settings | Setting for XY plane in each function | - |
| A.1 | Enable setting | Setting for whether to execute monitoring of the XY plane | - |
| A.2 | Range selection | Selection of setting range - Wall - Restricted Area | This can only be set if "A.1 Enable setting" is enabled. |
| B | Enable XY plane range | Setting for whether to execute monitoring in each XY direction | This can only be set if "A.1 Enable setting" is enabled. |
| B.1 | X1 | Setting for whether to execute monitoring in the X1 direction | This can only be set when Wall is selected. Be sure to enable at least one location. |
| B.2 | X2 | Setting for whether to execute monitoring in the X2 direction | |
| B.3 | Y1 | Setting for whether to execute monitoring in the Y1 direction | |
| B.4 | Y2 | Setting for whether to execute monitoring in the Y2 direction | |
| C | XY plane range input | Setting for monitoring range in the XY direction | This can only be set if "A.1 Enable setting" is enabled. |
| C.1 | X1 | Setting for range in the X1 direction | Set X2 to a value greater than X1. |
| C.2 | X2 | Setting for range in the X2 direction | |
| C.3 | Y1 | Setting for range in the Y1 direction | |
| C.4 | Y2 | Setting for range in the Y2 direction | |
| D | Setting for the Z direction | Setting for monitoring in the Z direction | |
| D.1 | Enable setting | Setting for whether to execute monitoring in the Z direction | Only Wall (floor, ceiling) can be set for the Z direction. |
| E | Enable Z direction range | Setting for whether to execute monitoring in the Z direction | This can only be set if "D.1 Enable setting" is enabled. |
| E.1 | Z1 | Setting for whether to execute monitoring in the Z1 direction | |
| E.2 | Z2 | Setting for whether to execute monitoring in the Z2 direction | |
| F | Z direction range input | Setting for monitoring range in the Z direction | |
| F.1 | Z1 | Setting for range in the Z1 direction | Set this to a value smaller than the robot position. |
| F.2 | Z2 | Setting for range in the Z2 direction | |
Difference between a "Wall" and a "Restricted Area"
Wall
The upper and lower limits of the robot's operating area are set, and if the robot moves from inside the set area to outside, then Safe Torque OFF (STO) is 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
Please set the monitoring 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, Appendix C: Stopping Time and Stopping Distance When Safeguard Is Open"
Example of use: Preventing collisions with safety barriers
Refer to the following section for details.
Monitoring Areas for a SCARA Manipulator
Monitoring Areas for a 6-Axis Manipulator
For a SCARA Manipulator, 15 patterns, (a) through (o) can specified for the restricted range on the XY plane, which correspond to Walls.
For a 6-Axis Manipulator, there are a total of 18 patterns, including three patterns, (q) through (s) for the monitored position in the Z direction, in addition to those specified for the restricted range on the XY plane, which correspond to Walls.Restricted Area
A prohibited area is set within the robot's operating area, and if the robot moves from outside the set area to inside, then Safe Torque OFF (STO) is 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
Please set the monitored areas 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, Appendix C: Stopping Time and Stopping Distance When Safeguard Is Open"
Example of use: Preventing collisions with structures near the robot
Refer to the following section for details.
Monitoring Areas for a SCARA Manipulator
Monitoring Areas for a 6-Axis Manipulator
Pattern (p) corresponds to the Restricted Area.