Safety Monitoring Functions; Safety Monitoring Functions Overview; Simulation - Mitsubishi Electric MELFA CR800 Series Instruction Manual

4 SAFETY MONITORING FUNCTIONS

4. SAFETY MONITORING FUNCTIONS

4.1 Safety Monitoring Functions Overview

The functions available on the robot safety option are shown below:
Function
Safety logic edit
Safe torque off
Safe operating stop
Safe stop function 1
Safe stop function 2
Safely-limited speed
function
Safely-limited
position function
 Restrictions
The following functions and options cannot be used in conjunction with the robot safety option.
• Parallel I/O interface (2A-RZ361, 2A-RZ371)
• Controller CPU drive mode function
• Machine lock function
• Pseudo-input function
* The pseudo-input function can be used in RT ToolBox3 simulations.
• CPU standalone mode function

Simulation

4.1.1
You can check operation of safety monitoring function with simulation on RT ToolBox3/RT ToolBox3 Pro.
(This simulation is not available on RT toolBox3 mini.)
Safety input (DSI) is assigned as following table. Switch DSI using Pseudo-input.
See "RT ToolBox3/RT ToolBox3 mini User's Manual" for details on using simulation and pseudo-input.
4-32 Safety Monitoring Functions Overview
Tab. 4-1 Safety Monitoring Functions Overview
Functional description
Input This allows defining conditions for the safety monitoring
function to work.
Safety input signals and the AREA information of the
robot can be combined to configure the conditions to
trigger the safety monitoring functions.
Output This allows outputting safety signals based on running
states of the safety monitoring functions and AREA
monitoring information. This is used for displaying
safety states or connecting other safety devices.
STO The function shuts off driving energy to the motors of
the robot.
SOS Without shutting off the driving energy to the motors,
this function monitors the robot so that it stays at rest.
SS1 This is a function to stop the robot safely. After stopping
the robot, power off the motors.
SS2 This is a function to stop the robot safely. While the
motor control keeps working after the robot stops, this
function monitors the robot so that it does not work.
SLS This is a function to monitor the robot arm and the tools
so that their speeds do not exceed specified limits.
• Speed monitoring in XYZ coordinates
• Speed monitoring in joint coordinates
SLP This is a function to monitor whether positions of the
robot arm and the hand are in a safe area.
DSI 1 2
Signal No. 128 129
3 4 5 6
130 131 132 133
See:
4.4 Safety Logic
Edit
4.5.1 Safe torque
off (STO)
4.5.2 Safe
operating stop
(SOS)
4.5.3 Safe stop 1
(SS1)
4.5.4 Safe stop 2
(SS2)
4.5.5 Safely-limited
speed function
(SLS)
4.5.6 Safely-limited
position function
(SLP)
7 8
134 135