ID : 2482

Safely-Limited Position (SLP)

Function

This function monitors if each axis does not exceed the software limit.

Based on the encoder value of each axis, this function calculates the maximum stop position (for sliding axis) or maximum stop angle (for rotary axis) and evaluates the calculated value is within the the software limit. If this value exceeds the software limit, SS1 function is activated. The robot starts deceleration to stop and then the motor power is turned off.

Use Conditions

Input signal	Monitoring Disable input
Output signal	SLP output
Monitoring target	Each robot axis, Extended-joint (Note 1)
Monitoring area setting	Within the angle or position range of respective monitoring target axis
Reaction time	50 ms (Max)
Process Safety Time (PST)	100 ms
Operation mode	Auto mode, Manual mode
Timing to start the function	Auto mode : This monitoring is active always. Manual mode : This monitoring is active whenever the Monitoring disable input is OFF, and is not active whenever the Monitoring disable input is ON. (Note 2)

Note 1 : As a default, all axes including extended-joints are enabled. If you set enable/disable on individual axes, the safety parameter [66 : SLP Setting] needs to be changed. For details, refer to "Safety."

Note 2 : 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".

Attention

If being operated in high-speed motion near Software Motion Limits, an error may occur.

If an error occurs, the following shows the ways of avoiding errors.

Deviate the teaching point to the software limit range.
Reduce the speed when passing by the teaching point.

ID : 2482

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