11 Safety Function
11.3 Safety Logic Circuit
11-39
HW1485509
HW1485509
11.3.6.3 Full Speed Mode
Full speed mode can be used to perform a test run or a forward/backward
operation of the job at the full taught speed during the MANUAL (TEACH)
mode.
When the S-FST signal is turned ON during the MANUAL (TEACH) mode,
full speed mode is activated.
When the full speed mode is selected, the servo power is turned OFF, and
then the manual speed setting is automatically switched to the inching
mode. In the same way, when the Enable Switch is released in full speed
mode, the manual speed setting is automatically switched to inching
mode.
The operation speed while the mode is set to full speed test mode is
specified according to the manual speed setting per table 11-14.
Table 11-14: Manual Speed Settings
DANGER
When using the full-speed test function, the Robot will move at a high
speed. Thus, make sure the operator is in a secure place outside the
Robot's operating range from where he/she can visually check the
Robot's movement and perform operations by using the Smart Pendant
from that place.
Manual speed operation
speed limit (initial value)
Parameter (unit: 0.01%)
Inching 20% S1CxG60
(initial value: 2000)
Limited to
250 mm/s
Low 50% S1CxG61
(initial value: 5000)
Mid 75% S1CxG62
(initial value: 7500)
High 100%
(fixed value)
-
The operation speed limit values in the above table are the
percentages with respect to the manipulator's maximum
speed, not with respect to the taught speed. These are
specified in order to control the operation speed so that it
does not exceed the manipulator's maximum speed during
a test run or a forward/backward operation.
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