RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
39
b.) SS1-r (Safe-Stop 1 ramp monitored) initiates and monitors the motor deceleration rate
within selected limits to stop the motor and performs the STO function when the motor
speed is below a specified limit; or c.) SS1-t (Safe Stop 1 time controlled) initiates the motor
deceleration and performs the STO function after an application specific time delay. This
safety sub-function corresponds to a controlled stop according to stop category 1 of IEC
60204-1. Above three candidates, our system uses SS1-t.
- SS2(Safe Stop 2)
: This function is specified as either a.) SS2-d (Safe Stop 2 deceleration
controlled) initiates and controls the motor deceleration rate within selected limits to stop
the motor and performs the safe operating stop function when the motor speed is below a
specified limit; or b.) SS2-r (Safe Stop 2 ramp monitored) initiates and monitors the motor
deceleration rate within selected limits to stop the motor and performs the safe operating
stop function when the motor speed is below a specified limit; or c.) SS2-t (Safe Stop 2 time
controlled) initiates the motor deceleration and performs the safe operating stop function
after an application specific time delay. This safety sub-function SS2 corresponds to a
controlled stop according to stop category 2 of IEC 60204-1. Among the above three
candidates, our system uses SS2-t.
- SOS(Safe Operating Stop): This function prevents the motor from deviating more than a
defined amount from the stopped position. The PDS (SR) provides energy to the motor to
enable it to resist external forces. This description of an operational stop function is based on
implementation by means of a PDS (SR) without external (i.e. mechanical) brakes.
- SLP(Safely Limited Position)
: This function prevents the motor shaft (or mover, when a
linear motor is used) from exceeding the specified position limit(s).
- SLS(Safely Limited Speed)
: This function prevents the motor from exceeding the specified
speed limit.
- SLA(Safely-Limited Acceleration)
: This function prevents the motor from exceeding the
specified acceleration and/or deceleration limit.
- SLI(Safely Limited Increment)
: This function prevents the motor shaft from exceeding the
specified limit of position increment within specified time.
- SLT(Safely Limited Torque)
: This function prevents the motor from exceeding the specified
torque limit (or force limit when a linear motor is used).
- RPL(Robot Position Limit)
: This function prevents the robot arm’s TCP (tool center point) or
body frame from exceeding the specified spatial region.
- TSL(TCP Speed Limit)
: This function prevents the robot arm’s TCP speed from exceeding
the specified speed.
- CBPL(Control Box Power Limit)
: This function prevents the Control Box’s power
consumption from exceeding the specified limit.
- EMS1(Emergency Stop1)
: This function activates the stop mode when the emergency stop
switch of the Teaching Pendant Unit is activated. The stop mode is the SF.2.
Содержание RB Series
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