4 SAFETY MONITORING FUNCTIONS
4-56 Safety Monitoring Functions
(b) When a specified speed limit is exceeded during the SLS_ monitoring
Detection of a speed command or speed feedback exceeding the monitoring speed during the SLS_
monitoring causes error 230* (Abnormal SLS joint speed) or error 231* (Abnormal SLS orthogonal speed).
The operation sequence is shown in the figure below:
Fig. 4-43: When a specified speed limit is exceeded during the SLS_ monitoring
(c) When the devices fail to decelerate within a specified time with SLS enabled
With SLS enabled, if the SLS monitoring speed limit is exceeded or the devices fail to decelerate to the
monitoring speed within the SLS deceleration time, error H230* (Abnormal SLS joint speed) or error H231*
(Abnormal SLS orthogonal speed) occurs and the SS1 function stops the devices.
The errors occur when the limit overrides are too large or the deceleration monitoring time is too short.
Fig. 4-44: When the devices fail to decelerate within a specified time with SLS enabled
Speed command
Speed feedback
Deceleration
monitoring time
Speed command
Speed feedback
Deceleration
monitoring time
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