4 SAFETY MONITORING FUNCTIONS
4-46 Safety Monitoring Functions
4.5.2 Safe operating stop (SOS)
(1) Overview
This is a function to keep shifts of the robot from the stop position within a specified value. This function provides
the motors with driving energy necessary to keep the stop state.
Change in the position or speed during the SOS monitoring causes error H2282 (SOS position error, SOS speed
error).
(2) Operation sequence
(a) SOS function start conditions
<SS2 command>
To trigger the SOS function, input the SS2 command. Inputting the SS2 command causes the robot to
start decelerating, and after the robot stops safely, the SOS function starts. For details on the sequence,
see chapter 4.5.4 . (No external signal can directly start the SOS function.)
(b) Program operation state
The SOS automatic resumption configuration enables changing the program operation state during the
SOS monitoring.
Table 4-6: SOS automatic resumption mode
automatic
resumption
factory
default.)
Enabling the SS2 command during a program operation suspends the
operation and causes no program start operation to be accepted.
Resuming the program requires disabling the SS2 command and then
performing program start operation.
Enabling the SS2 command during a program operation suspends the
operation once a command concerning the robot movement is
performed. Disabling the SS2 command automatically resumes the
(c) Operation restrictions
Operation restrictions during the SOS monitoring are shown in Table 4-7.
Table 4-7: Operation restrictions during the SOS monitoring
SOS automatic
resumption disabled
SOS automatic
resumption enabled
✔
✔
✔
✔
✔
✔
・ Turning off servos during the SOS monitoring disables the SOS monitoring.
・ When the SS2 command is enabled, turning on the servos again resumes the SOS monitoring.
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