ID : 7320

Slow Start (SS) Function

Overview

If this function is used, when a robot has been stopped for a certain period of time, the robot starts its motion with a slower speed after the stop.

The robot moves with the slower speed within a predetermined time period after the motion start. Once the predetermined time period elapses, the robot runs with the normal operation speed.

This function is available in Ver.2.7.* or higher.

To check the currently used parameters with Remote TP/Virtual TP, click [Help] - [Parameter confirmation] - [Other] tab.

Item	Initial value	Description
Slow Start (ss) function setting	Enables	Enables (use) /Disables (not use) this function enable.
Stopping time to start SS function (sec)	10	When the Slow Start function is enabled, if a robot has been stopped for more than the specified period of time, the robot will start moving with a slower speed. However, under the following conditions, the robot starts with the slower speed, regardless of the setting value. Immediately after the COBOTTA startup The first motion after the direct teaching The first motion after the end of manual operation. The first motion after the end of the variable move (moving to the variable-specified position). After the change of parameters with COBOTTA parameter tool. Enter the value between 1 to 3600 (second).
Operation time to complete SS function (sec)	10	When the specified period of time has elapsed from the start of the slower speed motion, the robot resumes its motion with normal speed (user’s defined speed). Enter the value between 1 to 3600 (second).
Max speed of SS function (mm/sec)	125	The maximum speed at the Slow Start motion. Enter the value between 50 to 250 (mm/sec).

Example

Each parameter can be changed with the COBOTTA parameter tool.

When you change parameters, to ensure the operator's safety, be sure to perform risk assessment. Based on the result of risk assessment, determine each parameter.

Indication with Status display LED

In general, while a user program is running, the status display LED on the robot body lights white.

While a robot runs with a slower speed by Slow Start function, the status display LED blinks white.

Slow Start function unavailable conditions

Regardless of the parameter setting, the Slow Start function is not available under the following conditions.

Robot motion of manual operation
Robot motion of variable move (moving to the variable-specified position).
CALSET execution at the startup
Simulation function with WINCAPSIII
Machine lock operation

Precautions for Use

We do not guarantee you that the use of this function prevents any collision between human and robot. Before you execute a user program, make sure that there is no personnel near the robot.

Set each parameter value according to your application environment. If you use this function with the factory default parameter setting, depending on the customer’s environment, a robot may collide with operators.

ID : 7320

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