4 SAFETY MONITORING FUNCTIONS
Safety Monitoring Functions 4-49
4.5.3 Safe stop 1 (SS1)
(1) Overview
The SS1 command input starts deceleration and, after the motors of all the axes are decreased to a speed
at or below specified speeds or a specified time elapses, motor driving power is turned off (STO is started).
(This function corresponds to stop category 1 of IEC 60204-1.)
Failure in deceleration within a specified maximum delay causes error H2280 (SS1 deceleration timeout).
(2) Operation sequence
(a) SS1 command (Normal operation)
The operation sequence of the SS1 function is as follows. The SS1 function is triggered when one of the
following situations occurs during the robot operation.
• The SS1 command is entered.
• The emergency stop is input.
• An H level error occurs.
• Safety connection is disconnected or during waiting for connection establishment.
When the SS1 function is triggered, the deceleration starts at a specified deceleration rate. After the speed
command becomes zero, the brakes are locked and STO shuts off the power supply to the servo motors.
Canceling the trigger conditions restores the normal operation state.
速度 SS1 STO
ﾌｨｰﾄﾞﾊﾞｯｸ
指令
時間
0r/min
有効
無効
有効
無効
有効
無効
ブレーキ 解除
ロック
モータ電源供給 ON
OFF
Fig. 4-34: SS1 command (Normal operation)
<Program operation state>
Program operation suspends during the SS1 or STO monitoring. To resume it, it is necessary to cancel all
the SS1 start conditions and then perform the program start operation.
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