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4 SAFETY MONITORING FUNCTIONS

4-16 Overview of the Safety Monitoring Functions

4. SAFETY MONITORING FUNCTIONS

This chapter provides information on the safety monitoring functions of the robot controller and how to configure

the settings.

4.1 Overview of the Safety Monitoring Functions

The following table lists safety monitoring functions that can be implemented with the safety communication

function.

Table 4-1 Safety Monitoring Functions Overview

Function

Functional description

See:

Safety communication

function

This function performs safety communication with the

safety programmable controller using functional safety-

compatible protocols. Input signals are used to switch

the safety monitoring function, and output signals are

used to output the status of the safety monitoring

functions (safety logic edit).

When the safety communication function is enabled,

the following safety monitoring functions are available.

SS1 (STO), SS2 (SOS), SLS, SLP

4.7 Safety

Communication

Function

Safety logic edit

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.

4.4 Safety Logic

Edit

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.

Safe torque off

STO

The function shuts off driving energy to the motors of

the robot.

4.5.1 Safe torque

off (STO)

Safe operating stop

SOS

Without shutting off the driving energy to the motors,

this function monitors the robot so that it stays at rest.

4.5.2 Safe

operating stop

(SOS)

Safe stop function 1

SS1

This is a function to stop the robot safely. After stopping

the robot, power off the motors.

4.5.3 Safe stop 1

(SS1)

Safe stop function 2

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.

4.5.4 Safe stop 2

(SS2)

Safely-limited speed

function

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

4.5.5 Safely-limited

speed function

(SLS)

Safely-limited

position function

SLP

This is a function to monitor whether positions of the

robot arm and the hand are in a safe area.

4.5.6 Safely-limited

position function

(SLP)

■Restrictions

The following functions and option cannot be used in conjunction with the safety communication function.

• Robot safety option

• Controller CPU drive mode function

• Machine lock function

• CPU standalone mode function

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English

Mitsubishi Electric CR800-R User Manual

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Mitsubishi Electric CR800-R Specifications

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