11 Safety Function
11.4 Functional Safety Functions
11-77
HW1485509
HW1485509
11.4.6 Speed Limit
11.4.6.1 Outline of the Speed Limit
Speed Limit function is a function which monitors whether the speed of the
Robot control points do not exceed the limit or not. Monitored Robot
control points are TCP (Tool Center Point) and FCP (Flange Center Point).
When ā0ā is set to the speed limit, it becomes the stop position monitoring.
the stop position monitoring is performed to TCP or FCP to confirm each
point does not move.
When the speed limit function setting is enabled and in case the taught
speed is faster than the limited speed, the speed decreases. The actual
motion speed will be smaller than the limited speed for safety reason.
Once the speed is decreased, then the monitoring starts.
The time for decreasing the speed varies depending on the manipulator
type or teaching conditions. For this reason, in the functional safety
function, the period of time from validating the condition file to complete
decreasing is regarded as the monitoring delay time and this can be set to
the Speed Limit setting.
Flange Center Point
Tool Center Point
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