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Restriction on the commanded speed by Speed Limit OVRD is effective for the speed of
Caution
movements made by the interpolation command. The restriction is not effective for the
correction speed generated by the compliance control, force sense control, or tracking
function. While these functions are executed, an error may occur depending on the
settings for operation or monitoring speed.
Speed Limit OVRD is not effective for the movement speed under real-time external
Caution
control (Mxt command). Correct the commanded position according to the monitoring
speed on the commanded position generation side.
(d) Deceleration monitoring time
This field is for configuring wait time from when the SLS command is enabled to when monitoring starts.
When a speed is above an allowable speed after the wait time elapses, an error occurs.
4 SAFETY MONITORING FUNCTIONS
Safety Monitoring Functions 4-57
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