Example of Using Joint Angle Limit
The following describes how to use Joint Angle Limit using SLS_1.
In this example, SLS_1 is assigned to SAFETY_IN3 to enable the Joint Angle Limit. Set the Maximum Joint Angle to 15 deg, and the SLS_1 Maximum Speed to 1000[mm/sec]. Confirm that the Manipulator continues to operate as long as it does not violate the Maximum Joint Angle, and that any violation of Joint Angle Limit results in an emergency stop.
How to set
Follow the procedure below to set the safety function parameters.
In Epson RC+, select [Setup] - [System Configuration], and then start Safety Function Manager under [Controller] - [Safety Functions].
For [SAFETY_IN3], select [SLS_1].
Select the [Joint Angle Limit].
When the [Joint Angle Limit] is selected, the [SLS_1] delay time is fixed to 0.Enter 150 for [Maximum Joint Angle].
Select [Hand] for [SLS_1], and enter 1000 for [Maximum Speed].
Apply settings.
How to check operation
Follow the procedure below to check the operation.
Turn SAFETY_IN3 ON (0V) to enable the Joint Angle Limit.
Turn on the robot motors.
EPSON RC+ 7.0: In EPSON RC+, select [Robot Manager] - [Control Panel], and then click the [MOTOR ON] button.
Epson RC+ 8.0: In Epson RC+, select [Robot Manager] and then click the [Motor: Off] button.In Epson RC+, select [Tools] - [Robot Manager] - [Jog & Teach], and then set [Jog Distance] for J1 axis to 10 deg.
Click [+J1] to rotate 10 deg at low speed.
KEY POINTS
As the jog distance (angle) is equal to or less than the limit angle (15 deg), the motor stays on without triggering the Safety Function.
Set [Jog Distance] for the J1 axis to 20 deg.
Click [+J1] to rotate 20 deg at low speed.
Confirm that an emergency stop occurs and the robot operation stops.
How to reset
Follow the procedure below to reset the emergency stop status or error status. For details on safety functions, refer to the following section.
Precautions for Using the Robot Controller Safety Functions
Perform the reset operation.
EPSON RC+ 7.0: In EPSON RC+, select [Robot Manager] - [Control Panel], and then click the [Reset] button.
Epson RC+ 8.0: In Epson RC+, select [Robot Manager] and then click the [Reset] button.Confirm that the [EStop] displayed in the lower right corner of Epson RC+ turns off.