Robot Speed Monitoring (RSM)

Function

This function monitors if the speed of monitoring points on the robot is below the specified speed.

Once the speed of a monitoring point exceeds the specified speed, SS1 function is activated. The robot starts deceleration to stop and then the motor power is turned off.

The following figure shows the location of monitoring points.

• The center of flange and TCP
  TOOL number specified by the input signal of "Tool number input N" is used. (N represents a number from 0 to 3)
  
• Points on the robot arm
  
  
  

Use Conditions

Input signal	RSM N input (effective only in the Auto mode), Monitoring disable input (effective only in the Manual mode), Tool number input N
Output signal	RSM N output
Monitoring target	Robot, Extended-joint
Monitoring area setting	none
Reaction time	50 ms (Max)
Process Safety Time (PST)	100 ms
Operation mode	Auto mode, Manual mode
Timing to start the function	Auto mode : When one of the RSM N input turns OFF, this function waits the expected deceleration time, which is required to shift from the high-speed operation to the monitoring speed operation or lower speed, has elapsed, and then starts monitoring. Manual mode : When the Monitoring disable input is OFF, this function always monitors if the speed of monitoring points is below 250 mm/sec. This function does not monitor when the Monitoring disable input is ON. (Note 1)

Note 1 : To use Monitoring disable input, the safety parameter [15 : Monitoring disable input setting] needs to be [1: enabled]. For details, refer to "Monitoring Disable Input".

How to Use

Specifying the Monitoring Speed

Under the Auto mode, the monitoring speed is determined by the Motion I/O input described in the following table.

If two or more signals are turned OFF, the lowest speed setting value among the "turned-OFF" signals is selected.

Signal name	Description
RSM 1 input	Set the monitoring speed to 125 mm/s.
RSM 2 input	Set the monitoring speed to 250 mm/s.
RSM 3 input	Set the monitoring speed to 500 mm/s.

Specifying the Tool Number

Specify a Tool number with "Tool number input 0" to "Tool number input 3" of the Motion I/O input. Each Tool number input represents one bit of binary data. One Tool number consists of four bits.

Example : To specify TOOL1, turn ON the “Tool number input 0” and turn OFF the rest of Tool number inputs.

Setting the Link Information

The RC8 series robot controller always monitors the motion speed of the robot joints being driven and limits it to a maximum of 250 mm/sec in Manual or Teach check mode.

If the link information is set up between robot joints and extended-joint(s), the controller can always monitor and limit the total motion speed of the linked joints to a maximum of 250 mm/sec.

For details, refer to "Setting the Link Info".

Case 1: Robot and Each Extended-joint are Independent

Robot and extended-joints are treated as different monitoring target. Extended-joints are monitored based on the link information.

Case 2 : Robot and Extended-joints are Independent, but two or more Extended-joints are Linked

Robot and extended-joints are treated as different monitoring target. For extended-joints, the composite speed of extended-joints are monitored.

Case 3 : Robot is Mounted on an Extended-joint

The composite speed of an extended-joint and robot at the monitoring point on the robot is monitored.