4 SAFETY MONITORING FUNCTIONS
Safety Monitoring Functions 4-63
4.5.6 Safely-limited position function (SLP)
(1) Overview
This function defines safeguarded spaces around the robot that restrict intrusion of the robot into them and
monitors the robot arm and tools so that they do not enter the spaces. If the robot gets close to a safeguarded
space during operation, the robot stops. When a monitoring position passes through the position monitoring plane
into a safeguarded space, error H220m (m: plane or area number) occurs and the SS1 function will stop the robot.
Fig. 4-52: Safely-limited position function
This function does not guarantee that the robot arm and tools will not enter the
safeguarded spaces.
(2) Operation sequence
(a) SLP_ function basic operation
Enabling a SLP_ command (SLP1, SLP2, SLP3, or SLPM command) triggers the SLP function.
Fig. 4-53: SLP_ function basic operation
Caution
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