Mitsubishi Electric Industrial Robot

CR800 series controller

Robot Safety Option
Instruction Manual
4F-SF003-05

BFP-A3762-H
 Safety Precautions

Always read the following precautions and the separate "Safety

Manual" before starting use of the robot to learn the required
measures to be taken.

CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training

CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan

WARNING Prepare a device that allows operation to be stopped immediately during

teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch

CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress

DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence

CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start

CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress

CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.

DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.

CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)

CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.

CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.

CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.

CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.

CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to errors or
faults.

WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.

WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.

CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.

WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.

CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.

CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.

CAUTION Never carry out modifications based on personal judgments, non-designated

maintenance parts. Failure to observe this could lead to faults or failures.

WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.

CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.

CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.

DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.

DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR800-R /CR800-Q/CR860-R/CR860-Q
controller. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.

DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.

CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.

CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc.)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.

CAUTION To maintain the security (confidentiality, integrity, and availability) of the Robot and
the system against unauthorized access, DoS*1 attacks, computer viruses, and other
cyberattacks from unreliable networks and devices via network, take appropriate
measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems involving
Robot trouble and system trouble by unauthorized access, DoS attacks, computer
viruses, and other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading systems or
exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.
■ Revision history
Date of print Manual No. Details of revisions
2020-12-16 BFP-A3762  First print
2021-04-01 BFP-A3762-A  Updated some RT ToolBox3 screen images for Ver. 1.90U.
 Corrected other mistakes and changed some sections.
 Added the following error codes.
C0244, H0250, H0251
 Revised "4.5.6 Safely-limited position function (SLP)".
 Added information to the safety performance and the dangerous
failure rate (Tab. 1–3).
2022-03-31 BFP-A3762-B  Added countermeasures for error H231n.
2023-04-17 BFP-A3762-C  Revised "1.3 Specifications".
 Corrected other mistakes and changed some sections.
2023-06-07 BFP-A3762-D  Revised "1.3 Specifications".
2023-09-14 BFP-A3762-E  Added the CR860 controller.
2024-02-09 BFP-A3762-F  Added RV-12CRL.
2024-03-08 BFP-A3762-G  Revised "4.4.2. Safety output configuration".
 Revised "4.5.3 Safe stop 1 (SS1)".
 Changed some sections.
2024-05-15 BFP-A3762-H  Revised "1.3 Specifications".
■ Introduction

Thank you for purchasing an industrial robot from Mitsubishi Electric Corporation. The "robot safety option",
used together with external devices such as a safety switch or light curtain, enhances the robot safety function.
Before using the "robot safety option", make sure to read and fully understand the contents of this manual.

The manual is intended for use on the assumption that you understand basic operations and functions of the
Mitsubishi industrial robot. For the basic operation of the robot, refer to the separate "Instruction
Manual/Detailed explanations of functions and operations".
In this manual, the CR800 series indicates the CR800 and CR860 controllers.
The CR800 controller indicates the CR800-D, CR800-Q, or CR800-R controller.
The CR860 controller indicates the CR860-D, CR860-Q, or CR860-R controller.

■Symbols in this manual

Before using this product, please read this manual and the relevant manuals carefully and pay full attention to
safety to handle the product correctly.
The precautions given in this manual are concerned with this product only. For the safety precautions of the robot
system, refer to the user's manual for the peripheral equipment used.
In this manual, the safety precautions are classified into three levels: "DANGER", "WARNING", and "CAUTION".

Precaution indicating cases where there is a risk of operator fatality or serious

Danger injury if handling is mistaken. Always observe these precautions to safely use
the robot.
Precaution indicating cases where the operator could be subject to fatalities or
Warning serious injuries if handling is mistaken. Always observe these precautions to
safely use the robot.
Precaution indicating cases where operator could be subject to injury or physical
Caution damage could occur if handling is mistaken. Always observe these precautions
to safely use the robot.

Under some circumstances, failure to observe the precautions given under "CAUTION" may lead to serious
consequences.
Observe the precautions of all the levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The details of this manual are subject to change without notice. We kindly ask for your understanding.
・ Specification values are based on our standard test methods.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your service provider.
・ This is the original document.
・ All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
・ We omit ® and TM in this document.

Copyright(C) 2020 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

 [CONTENTS]
1. FUNCTIONS AND CONFIGURATION ............................................................................................ 1-1
1.1 Overview ................................................................................................................................................... 1-1
1.2 System Configuration .............................................................................................................................. 1-2
1.3 Specifications ........................................................................................................................................... 1-3
1.4 Risk Assessment ..................................................................................................................................... 1-6
1.4.1 Residual Risk (Common) ................................................................................................................... 1-6
1.4.2 Residual Risk (Specific to Each Function) ...................................................................................... 1-6
2. INSTALLATION ............................................................................................................................... 2-8
2.1 Product Components .............................................................................................................................. 2-8
2.1.1 Accessories......................................................................................................................................... 2-8
2.1.2 Items to be prepared by customer.................................................................................................... 2-9
2.2 Part Names ............................................................................................................................................. 2-13
2.3 Installation and Connection .................................................................................................................. 2-14
2.3.1 Fixing the safety extension unit...................................................................................................... 2-14
2.3.2 Safety extension unit external dimensions ................................................................................... 2-15
2.3.3 Connecting with the robot controller ............................................................................................. 2-16
2.3.4 Connector and cable ........................................................................................................................ 2-19
2.4 Check Items ............................................................................................................................................ 2-20
2.5 Replacement Parts ................................................................................................................................. 2-20
2.6 Maintenance ........................................................................................................................................... 2-20
3. SIGNALS AND WIRING ................................................................................................................ 3-21
3.1 Description of Signals ........................................................................................................................... 3-21
3.1.1 Electrical specifications .................................................................................................................. 3-21
3.1.2 Signal operation ............................................................................................................................... 3-24
3.2 Connector Wiring ................................................................................................................................... 3-25
3.3 Connectors and Pin Assignment ......................................................................................................... 3-27
3.4 Input Signal Connection Example ........................................................................................................ 3-29
3.5 Measures to Prevent Static Electricity and Noise .............................................................................. 3-31
4. SAFETY MONITORING FUNCTIONS........................................................................................... 4-32
4.1 Safety Monitoring Functions Overview ............................................................................................... 4-32
4.1.1 Simulation ......................................................................................................................................... 4-32
4.2 Startup and Basic Configuration .......................................................................................................... 4-33
4.2.1 Connecting RT ToolBox3 ................................................................................................................. 4-33
4.2.2 Parameter configuration .................................................................................................................. 4-33
4.2.3 Password setting .............................................................................................................................. 4-34
4.2.4 Enabling/disabling functions .......................................................................................................... 4-36
4.2.5 Recovery mode ................................................................................................................................. 4-37
4.2.6 Parameter CRC output number....................................................................................................... 4-38
4.3 Defining 3D Models ................................................................................................................................ 4-40
4.3.1 3D Monitor ......................................................................................................................................... 4-40
4.3.2 Arm model ......................................................................................................................................... 4-43
4.3.3 Tool model ......................................................................................................................................... 4-44
4.4 Safety Logic Edit .................................................................................................................................... 4-46
4.4.1 Safety input settings ........................................................................................................................ 4-46
4.4.2 Safety output configuration ............................................................................................................ 4-55
4.4.3 Checking operation of the safety inputs and outputs .................................................................. 4-57
4.5 Safety Monitoring Functions ................................................................................................................ 4-58
4.5.1 Safe torque off (STO) ....................................................................................................................... 4-58
4.5.2 Safe operating stop (SOS) ............................................................................................................... 4-59
4.5.3 Safe stop 1 (SS1) .............................................................................................................................. 4-62
4.5.4 Safe stop 2 (SS2) .............................................................................................................................. 4-67
4.5.5 Safely-limited speed function (SLS) ............................................................................................... 4-70
 4.5.6 Safely-limited position function (SLP) ........................................................................................... 4-78
4.6 Safety Diagnosis Function .................................................................................................................... 4-87
4.6.1 Test pulse diagnosis (EMG)............................................................................................................. 4-87
4.6.2 Safety diagnosis function ................................................................................................................ 4-88
5. STATE VARIABLE ........................................................................................................................ 5-89
5.1 List of State Variables ............................................................................................................................ 5-89
5.2 State Variables........................................................................................................................................ 5-89
6. TROUBLESHOOTING .................................................................................................................. 6-94
6.1 Error List for the Safety Monitoring Functions ................................................................................... 6-94
6.2 Errors Whose Specification Is Changed by Safety Monitoring Functions ...................................... 6-97
7. SAFE STOPPING DISTANCE ....................................................................................................... 7-98
7.1 How to Calculate a Stopping Distance ................................................................................................ 7-98
7.2 Maximum Stopping Time and Maximum Operating Angle ................................................................ 7-99
7.3 Calculating stopping distance and stopping time............................................................................ 7-126
8. APPENDIX .................................................................................................................................. 8-129
8.1 Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply ........................................ 8-129
8.2 Appendix 2: How to Install the Safety Extension Unit ..................................................................... 8-130
8.3 Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit .............. 8-132
8.4 Appendix 4: EMC installation guideline............................................................................................. 8-134
8.4.1 Outlines ........................................................................................................................................... 8-134
8.4.2 EMC directive .................................................................................................................................. 8-134
8.4.3 EMC measures ................................................................................................................................ 8-134
8.4.4 Component parts for EMC measures ........................................................................................... 8-135
 1 FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Overview
This document explains how to use the safety monitoring functions with the robot safety option. As for the functions
available in the standard robot controller and the operation method, refer to the instruction manual provided with
the robot controller.

The robot safety option expands the safety monitoring function for the CR800 series controller. The main functions
are shown below.

Tab. 1-1: Safety monitoring functions overview

Function Function Outline See:

Safety logic edit Input This allows defining conditions to trigger the safety 4.4 Safety Logic
monitoring functions. Edit
Safety input signals from external sensors (laser
scanners, light curtains, etc.) and robot area
information can be combined to configure the
conditions to trigger the safety monitoring functions.
Output This allows outputting safety signals based on the
safety monitoring functions and area information. This
is used for displaying safety states or connecting other
safety devices.
Safe stop function 1 SS1 This is a function to stop the robot safely. After 4.5.3 Safe stop 1
(STO) stopping the robot, power off the motors. (SS1)
Safe stop function 2 SS2 This is a function to stop the robot safely. While the 4.5.4 Safe stop 2
(SOS) motor control keeps working after the robot stops, this (SS2)
function monitors the robot so that it does not continue
to operate.
Safely-limited speed SLS This is a function to monitor the robot arm and robot 4.5.5 Safely-limited
function tools so that their speed does not exceed a specified speed function
limit. This can monitor the speeds both in XYZ (SLS)
coordinates and joint coordinates.
Safely-limited SLP This is a function to monitor the position of the robot 4.5.6 Safely-limited
position function arm and robot tools so that they do not enter position function
safeguarded spaces. Safeguarded spaces can be (SLP)
specified with planes and areas.

Overview 1-1
1 FUNCTIONS AND CONFIGURATION

1.2 System Configuration

Emergency
非常停止 stop

Safety extension
unit
安全拡張ユニット

Lamp
ランプ

Laser
エリアセンサ
ライトカーテン scanner Safety
安全シーケンサsequencer
Light curtain

Fig. 1-1 System configuration example

Tab. 1-2 System configuration

Item Description Remarks

Robot arm Vertical RV-2FRB, RV-2FRLB, RV-4FR, RV- Additional axes and user mechanisms
articulated robot 4FRL, RV-4FRJL, RV-7FR, RV-7FRL, are not included in the system.
RV-FR series RV-7FRLL, RV-13FR, RV-13FRL, RV-
20FR, RV-35FR, RV-50FR, RV-80FR
Vertical RV-8CRL, RV-12CRL
articulated robot
RV-CR series
SCARA robot RH-3FRH, RH-6FRH, RH-12FRH,
RH-FRH series RH-20FRH, RH-3FRHR, RH-1FRHR
SCARA robot RH-3CRH, RH-6CRH
RH-CRH series
Robot controller CR800-D Ver. A5c or later, HW Ver. * or later Ver. A5k or later for the RH-3CRH and
CR800-R RH-6CRH, and Ver. D1 or later for the
CR800-Q RV-12CRL.
CR860-D Ver. D1 or later, HW Ver. * or later -
CR860-R
CR860-Q
RT ToolBox3 3F-15C-WINE CR800 controller: Ver. 1.00A or later Install the software to a personal
RT ToolBox3 mini 3F-14C-WINE CR860 controller: Ver. 2.30G or later computer.
RT ToolBox3 Pro 3F-16D-WINE The software is used to enable the
safety monitoring function. (Separate
purchase is required.)
The RV-12CRL is supported by
controllers with Ver. 2.40S or later.
Robot safety option 4F-SF003-05 The option explained in this instruction
manual.
External device Light curtain, safety switch, etc. To be prepared by the customer
according to the system configuration.

1-2 System Configuration

 1 FUNCTIONS AND CONFIGURATION

1.3 Specifications
Tab. 1-3 Specifications
Item Description Remarks
Safety STO function The function electrically shuts off IEC 60204-1:2016
function the driving energy to the motor of Corresponds to stop
the robot arm. category 0
The driving energy to the motor is
shut off, which means that safety is
ensured.
SS1 function The function to control and IEC 60204-1:2016
decelerate the motor speeds of the Corresponds to stop
robot. After stopping, the robot category 1
transitions to the STO state.
SS2 function The function to control and IEC 60204-1:2016
decelerate the motor speeds of the Corresponds to stop
robot. After stopping, the robot category 2
transitions to the SOS state.
SOS function Without shutting off the driving EN 61800-5-2:2017
energy to the motors, this function compliant
monitors the robot so that it stays at
rest.
SLS function This is a function to monitor each EN 61800-5-2:2017
part of the robot arm so that their compliant
speeds do not exceed monitoring
speeds.
SLP function The function monitors specified EN 61800-5-2:2017
monitoring positions so that they do compliant
not go across position monitoring
planes.
Safety Standard EN ISO 10218-1:2011 -
performance EN ISO 13849-1:2015
IEC 61508-1:2010
IEC 61508-2:2010
IEC 61508-3:2010
EN 61800-5-1:2007/A1:2017
EN 61800-5-2:2017
IEC 61326-3-1:2017
EN 60204-1: 2018
EN 61000-6-7:2015
Classification Type B -
Safety Power supply Voltage 24 V DC±5% -
extension specifications Ripple 0.2 V (P-P)
unit Maximum 300 mA The value not
consumption including the
current (Note 1) external load current
of the output (DO)
Structure (IP rating) IP20 -
Weight 0.4kg -
Environment Operating 0 to 40℃ It must be kept away
temperature from heat
range appliances and
other heat sources.
Relative 0 to 58°C Non-condensing
humidity
Vibration During transportation: 34m/s2. -
During operation: 5 m/s2 or less
Atmosphere No corrosive gas / flammable gas / -
oil mist/dust

Specifications 1-3
1 FUNCTIONS AND CONFIGURATION

Item Description Remarks

Safety Environment Installation Indoors No direct sunlight.
extension environment Place where no intense Do not install the
unit electromagnetic energy is unit on very rough
generated surfaces.
No roughness or tilt on the
installation surface
Input signal Eight routes (duplex signal) -
Output signal Four routes (duplex signal) -
Note 1: Refer to 8.1 Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply.

Do not use the JRC command when any of the safety functions are enabled.
Caution If the JRC command is used when the safety extension unit is connected and a safety
function is enabled, there may be deviation from the monitoring position of the safety
process. Position monitoring (SLP) and speed monitoring (SLS) may not be performed
correctly either.
• Applicable models: MELFA FR series and MELFA CR series (not applicable to the
MELFA ASSISTA series as it cannot use the JRC command)
• Applicable software versions: Ver. A1 or later

The following table shows the safety performance of the CR800 controller.
Function Item Description Remarks
STO Safety Level SIL 3 (IEC 61508:2010) Performance when:
Category 4, PL e • External emergency
(EN ISO 13849-1:2015) stop input when the test
Mean time to dangerous failure MTTFd ≥ 100 years pulse diagnosis settings
(MTTFd) are enabled (Note 1)
Diagnostic coverage (DC) DC = 99%
Probability of dangerous failure PFH = 1.40 × 10-8 [1/hour]
per hour (PFH) (Note 2)
Hardware Fault Tolerance 1
Mission time 20 years
Diagnostic test interval 1000ms
Systematic capability SC3
Safety Level SIL 2 (IEC 61508:2010) Performance when:
Category 3, PL d • External emergency
(EN ISO 13849-1:2015) stop input when the test
Mean time to dangerous failure MTTFd ≥ 100 years pulse diagnosis settings
(MTTFd) are disabled (factory
Diagnostic coverage (DC) DC = 90% settings)
Probability of dangerous failure PFH = 1.57 × 10-8 [1/hour] • Door switch input
per hour (PFH) (Note 2) • Mode selector switch
Hardware Fault Tolerance 1 input
Mission time 20 years • Safety extension unit's
Diagnostic test interval 1000ms safety input (Note 3)
Systematic capability SC2
SS1, SS2, Safety Level SIL 2 (IEC 61508:2010) (Note 3)
SOS, SLS, Category 3, PL d
SLP (EN ISO 13849-1:2015)
Mean time to dangerous failure MTTFd = 24 years
(MTTFd)
Diagnostic coverage (DC) DC = 90%
Probability of dangerous failure PFH = 3.42 × 10-7 [1/hour]
per hour (PFH) (Note 2)
Hardware Fault Tolerance 1
Mission time 20 years
Diagnostic test interval 1000ms
Systematic capability SC2

1-4 Specifications
 1 FUNCTIONS AND CONFIGURATION

Note 1: To use this product at a performance level of SIL 3, Category 4, PL e, refer to “4.6.1 Test pulse diagnosis
(EMG)”.
Note 2: The robot controller PFH or PFHd (Probability of Dangerous Failure per Hour).
Note 3: For systems using the I/O signals of the safety extension unit, add the PFH value in the table below.
Safety performance of the safety extension unit complies with PL d/Category 3.
MTTFd DC PFH
[year] [%] [1/hour]
256 90 1.76 × 10-8

The following table shows the safety performance of the CR860 controller.
Function Item Description Remarks
STO Safety Level SIL 3 (IEC 61508:2010) Performance when:
Category 4, PL e • External emergency
(EN ISO 13849-1:2015) stop input when the test
Mean time to dangerous failure MTTFd ≥ 100 years pulse diagnosis settings
(MTTFd) are enabled (Note 1)
Diagnostic coverage (DC) DC = 99%
Probability of dangerous failure PFH = 1.60 × 10-8 [1/hour]
per hour (PFH) (Note 2)
Hardware Fault Tolerance 1
Mission time 20 years
Diagnostic test interval 1000ms
Systematic capability SC3
Safety Level SIL 2 (IEC 61508:2010) Performance when:
Category 3, PL d • External emergency
(EN ISO 13849-1:2015) stop input when the test
Mean time to dangerous failure MTTFd ≥ 100 years pulse diagnosis settings
(MTTFd) are disabled (factory
Diagnostic coverage (DC) DC = 96% settings)
Probability of dangerous failure PFH = 2.24 × 10-8 [1/hour] • Door switch input
per hour (PFH) (Note 2) • Enabling device input
Hardware Fault Tolerance 1 • Safety extension unit's
Mission time 20 years safety input (Note 3)
Diagnostic test interval 1000ms
Systematic capability SC2
SS1, SS2, Safety Level SIL 2 (IEC 61508:2010) (Note 3)
SOS, SLS, Category 3, PL d
SLP (EN ISO 13849-1:2015)
Mean time to dangerous failure MTTFd ≥ 100 years
(MTTFd)
Diagnostic coverage (DC) DC = 95%
Probability of dangerous failure PFH = 5.58 × 10-7 [1/hour]
per hour (PFH) (Note 2)
Hardware Fault Tolerance 1
Mission time 20 years
Diagnostic test interval 1000ms
Systematic capability SC2
Note 1: To use this product at a performance level of SIL 3, Category 4, PL e, refer to “4.6.1 Test pulse diagnosis
(EMG)”.
Note 2: The robot controller PFH or PFHd (Probability of Dangerous Failure per Hour).
Note 3: For systems using the I/O signals of the safety extension unit, add the PFH value in the table below.
Safety performance of the safety extension unit complies with PL d/Category 3.
MTTFd DC PFH
[year] [%] [1/hour]
256 90 1.76 × 10-8

Specifications 1-5
1 FUNCTIONS AND CONFIGURATION

1.4 Risk Assessment

To ensure safety, the user needs to assess all the risks and determine residual risks for the mechanical system
as a whole. Companies or individuals who configure the system will accept full responsibility for installation and
authorization of the safety system. Assessment for all risks and safety level certification are required for the
equipment/system as a whole. The following shows residual risks related to the safety monitoring function of this
product.

1.4.1 Residual Risk (Common)

(1) If the origin setting, parameter settings or programs of the robot are incorrect, unexpected operation may occur
and safety cannot be ensured. Fully check whether operations are as intended.
(2) Until correct installation, wiring, and adjustment are achieved, safety cannot be ensured.
(3) Only a qualified person is given the authority to install, start, repair, adjust, etc. the equipment to which
devices are installed. Installing or operating the equipment should be done by a trained engineer.
(4) For the safety monitoring function, perform the wiring separately from other signal wirings.
(5) Protect cables by appropriate means (installing inside the control panel, using a cable guard, etc.).
(6) It is recommended to use switches, relays, sensors, etc. conforming to safety standards. For using switches,
relays, sensors, etc. not conforming to safety standards, sufficient verification of safety is necessary on the
customer side.
(7) The safety function only works for the robot controller and the robot. The function covers no additional axes
(additional robot axes, user mechanisms). When using an additional axis, the customer needs to ensure and
assess the safety of the axis.
(8) To perform the initial test of the robot, power cycle it regularly. The initial test should be performed at least
every six months.

1.4.2 Residual Risk (Specific to Each Function)

(1) STO function
This function interrupts transmission of power to the motor installed in the robot arm, and may bring variation to
the posture of the robot arms due to mechanical factors, such as a timing belt break or brake wear, etc. of the
robot arm. Periodic maintenance of the robot arm is required. Depending on the posture of the robot, the arm may
droop if the axis does not have a brake.

(2) SS1function
This function controls and decelerates the motor speed installed to a robot arm. The movement cannot be stopped
immediately after deceleration is started.

(3) SS2 function

This function controls and decelerates the motor speed installed to a robot arm. The movement cannot be stopped
immediately after deceleration is started.

(4) SOS function

This function monitors motors installed in the robot so that they stay at rest. Mechanical factors, such as break of
timing belts of the robot, may bring variation to the posture of the robot. Periodic maintenance of the robot arm is
required.

(5) SLS function

This function monitors the speed of each part of the robot arm and tools specified beforehand. Depending on the
robot posture, some undefined parts may move at a speed higher than the monitoring speed.
This function is only enabled when the robot is in the servo-on state and therefore does not monitor the speed
when the robot is in the servo-off state.

1-6 Risk Assessment

 1 FUNCTIONS AND CONFIGURATION

(6) SLP function

In the following cases, the monitoring position may go across a position monitoring plane or a position monitoring
area. The following shows some concrete examples.
• When the position monitoring plane is applied, the robot position is beyond the plane.
• When the position monitoring plane is applied, the robot is moving near the plane at a high speed.
• The robot posture changes when the robot brake is released.

(7) Duplex input and output signal monitoring function

This function only monitors whether the duplexed input signals match each other, and does not detect malfunction
or misconnection of the connected devices. The robot detects the mismatched signal when a signal mismatch for
0.1 seconds or more occurs.

Risk Assessment 1-7

2 INSTALLATION

2. INSTALLATION
2.1 Product Components
2.1.1 Accessories
Please check to see if the package has all the necessary parts before use.
Tab. 2-1 List of items included in the package

Number Item Model Quantity Outer appearance Remarks

1 Safety 4F-SFUNIT2 1 If using it with
extension the CR860,
install the unit
unit inside the
CR860. (See
chapter 2.3.1 )
2 RIO cable 2F-SFRIOCBL05 1 -
(Cable
length: 5 m)

3 DCIN 2F-SFDCINCON 1 For primary

connector power wires
Pin: 3 pcs.
set Connector: 1pcs.
4 Terminator 2F-SFTM 1 For connection
cap to the RIO2
socket
5 Instruction BFP-A3764 1 BFP-A3764
manual
CD-ROM

2-8 Product Components

 2 INSTALLATION

2.1.2 Items to be prepared by customer

Items to be prepared by customer for the CR800 series controller
Tab. 2-2 Items to be prepared by customer for the CR800 series controller

No. Item Quantity Description Remarks

1 24 V power supply 1 The power supply for the safety Refer to 8.1 Appendix 1:
extension unit. Selection Conditions for
24VDC Stabilized Power
Supply.
2 24 V power cable - This is used to supply the safety -
extension unit with the 24 V power.
Assemble the cable with the included
DCIN connector set.
3 FG cable 1 Make a cable that connects to the -
frame ground.

4 Safety extension 1 Fabricate a metal plate to install the Refer to 8.2 Appendix 2:
unit installation safety extension unit inside the How to Install the Safety
CR860.
metal plate Extension Unit.
When the unit is used with the
CR800, no fabrication is required.
5 24 V power supply 1 A metal plate to install the 24 V Refer to 8.3 Appendix 3:
installation metal power supply inside the CR860. How to Install the
Fabricate it when installing the 24 V
plate Stabilized Power Supply
power supply inside the CR860.
When installing the 24 V power for the Safety Extension
supply outside the CR860, no Unit.
fabrication is required.
6 Fixing screw - A screw to fix the safety extension -
unit, installation metal plate, etc.
Prepare screws by referring to the
information described in this manual.

■Connected to 24V power supply

Connectors/cables: Table 2-5 Connectors and cables

Connector Pin Assignment: Table 3-5 DCIN pin assignment
Fig. 2-1 Power supply connection

Product Components 2-9

2 INSTALLATION

・Supplementary explanation when using this product with the CR860

When installing the 24V power supply of the safety extension unit outside the CR860
1) Pull the 24V power supply cable through the cable entrance (Note 1), and connect the cable to the safety
extension unit as shown in Fig. 2-1 Power supply connection.
Note 1: Refer to the method of wiring cables through the cable entrance described in the "CR860 Controller
Instruction Manual/Controller setup, basic operation, and maintenance".

Fig. 2-2 Power supply connection when installing the 24V power supply outside the CR860

When installing the power supply of the safety extension unit inside the CR860
1) A space is provided next to the safety extension unit for the installation of the 24V power supply. Install the
24V power supply using an installation metal plate supplied by customer.
To prevent interference with mechanical parts, ensure that the height is within 51mm. (Note 1)
Note 1): Refer to 8.3 Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit.
2) Pull a cable that is used to connect the input side of the 24V power supply through the cable entrance (Note
2), and connect the cable to the input side of the 24V power supply.
Note 2): Refer to the method of wiring cables through the cable entrance described in the "CR860 Controller
Instruction Manual/Controller setup, basic operation, and maintenance".
3) Connect the 24V power supply cable to the safety extension unit as shown in Fig. 2-1 Power supply
connection.

Fig. 2-3 Power supply connection when installing the 24V power supply inside the CR860

2-10 Product Components

 2 INSTALLATION

・Wiring precautions
When wiring this product inside the controller, fix the cable using the studs and the ribs of the door.
When wiring the product inside the door, ensure enough cable length for the opening and closing sections.
Otherwise, excessive force may be applied to the cable when the door is opened or closed, causing the cable to
be cut or disconnected.

■Connection to Frame ground

Fig. 2-4 FG wire connection

Tab. 2-3 Frame ground connector

Manufacturer Name Type

TE Connectivity Flat terminal 175021-1/175023-1
TE Connectivity Protection conver 174817-2

Product Components 2-11

2 INSTALLATION

・Supplementary explanation when using this product with the CR860

Connect the grounding plate located inside the controller and the FG cable of the safety extension unit.
Fix the FG cable using the studs inside the controller as shown in the figure below.

Fig. 2-5 FG wire connection

Tab. 2-4 Frame ground connector

Manufacturer Name Type

TE Connectivity Flat terminal 175021-1/175023-1
TE Connectivity Protection conver 174817-2

・Wiring precautions
When wiring this product inside the controller, fix the cable using the studs and the ribs of the door.
When wiring the product inside the door, ensure enough cable length for the opening and closing sections.
Otherwise, excessive force may be applied to the cable when the door is opened or closed, causing the cable to
be cut or disconnected.

2-12 Product Components

 2 INSTALLATION

2.2 Part Names

The names of each part of the safety extension unit (4F-SFUNIT2) are shown below:

(12) (11) (2) (1)

(8) (7) (6) (5) (4) (3) (10) (9)

Fig. 2-6 Names of each part of the safety unit

Tab. 2-5 Names of each part of the safety extension unit

No Connector Function Remarks

(1) DSI Safety DI input connectors -
(2) DSO Safety DI input connectors -
(3) STATION No. Station No. group setting switch Cannot be changed from the factory
(4) Station No. setting switch setting.
(5) RIO1 Remot I/O 2.0 communication -
(6) RIO2 Remot I/O 2.0 communication -
(7) DCIN 24 VDC input For power input to the safety I/O unit
(8) FG FG terminal Use this terminal for grounding.
RIOVER RIO communication status(Green) On: Normal
(9)
Off: Error
ALM Remote I/O communication error check LED On: Error
(10)
Off: Normal
FUSE Melted fuse check LED On: Normal
(11)
Off: Fuse melted
24VDCIN Energization status of 24VDC input of DCIN On: Normal
(12)
connector(Green) Off: Error

Part Names 2-13

2 INSTALLATION

2.3 Installation and Connection

Make sure the power of the robot controller is turned OFF before fixing the safety
Caution extension unit, connecting the robot controller and the safety extension unit, or installing
the connectors to the safety extension unit.

Please pay attention to the orientation of insertion of the connectors. The connectors may
Caution be broken if they are forcibly inserted in an incorrect orientation.

When an operator with static electricity installs/connects the product, the robot controller
Caution
or the safety extension unit may be broken. Start the work after all static electricity is
discharged.

Please supply power to the safety extension unit before the robot controller. When the
Caution
controller is turned on before the unit, H311(RemoteI/O unit config error) may occur.
When this error occurs, turn off both of the unit and controller and supply power to the
unit before the controller.

2.3.1 Fixing the safety extension unit

To fix the safety extension unit, use the hole marked with *1 in the external view Fig. 2-4 External dimensions.
Alternatively, use DIN rails and fix it in a place free from vibration.

If using the safety extension unit in the CR860, fabricate a metal plate to install the unit, and fix the metal plate
and unit inside the CR860 controller using the following steps: For details, refer to "8.2 Appendix 2: How to Install
the Safety Extension Unit".
1) Install the safety extension unit installation metal plate to the controller door section with M4 screws.

2-14 Installation and Connection

 2 INSTALLATION

2) Fix the safety extension unit to the metal plate using M5 screws.

Fig. 2-7 Installing the unit inside the CR860 controller

2.3.2 Safety extension unit external dimensions

Fig. 2-8 External dimensions

Installation and Connection 2-15

2 INSTALLATION

2.3.3 Connecting with the robot controller

(1) Unit connection (CR800 controller)
Connect the safety extension unit to the robot controller using the following steps.
1) Use the RIO cable (2F-SFRIOCBL05) to connect the safety extension unit to the robot controller.
2) Connect the terminator cap (2F-SFTM) to the RIO2 socket of the safety extension unit.
CR800 controller

Safety extension unit (4F-SFUNIT2）

RIO cable（2F-SFRIOCBL05）

Terminator cap (2F-SFTM)

Fig. 2-9 Connection to the CR800 controller

2-16 Installation and Connection

 2 INSTALLATION

(2) Unit connection (CR860 controller)

Connect the safety extension unit to the robot controller using the following steps.
1) Use the RIO cable (2F-SFRIOCBL05) to connect the safety extension unit to the robot controller.
2) Connect the terminator cap (2F-SFTM) to the RIO2 socket of the safety extension unit.
3) Locate the excess RIO cable in a space under the R800CPU module.

CR860 controller

CR800CPU unit

Safety extension unit (4F-SFUNIT2）

RIO cable（2F-SFRIOCBL05）

Terminator cap (2F-SFTM)

Fig. 2-10 Connection to the CR860 controller

Installation and Connection 2-17

2 INSTALLATION

(3) Station number

・Set 【Station Number Group Settings Switch】 to OFF for both 1 and 2.
・Set 【Station No. Setting Switch】 to Station No. 4.
If the switch is incorrectly set, an error H2261 occurs.

Station number setting switch

Fig. 2-11 Station number setting switch

2-18 Installation and Connection

 2 INSTALLATION

2.3.4 Connector and cable

Caution Incorrect cable connection to a wiring connector may damage the robot or cause a
malfunction. Take sufficient care when connecting the cables to a wiring connector.

To assemble the cables to connect to the DCIN connectors, use the included connector set.

Tab. 2-6 Connector and cable

No. Connector Accessories Description Recommended cable

needed
1 DCIN 2F-SFDCINCON Conductor area:
Manufacturer Model Qty. 0.5 to 1.42 mm2,
TE Connectivity Connector 1 (20 to 16 AWG)
2-178288-3 Sheath diameter:
TE Connectivity Contact 3 1.8 to 2.8 mm
1-175218-5 With shields

Installation and Connection 2-19

2 INSTALLATION

2.4 Check Items

Check the following items periodically.
(1) Make sure the connector is securely inserted to the safety extension unit.
(2) Make sure the electric wire has not come off from the wiring connector.
(3) Make sure no screws affixed to the safety extension unit are loose.
(4) Make sure the connectors connecting the robot controller and the safety extension unit are securely inserted.

2.5 Replacement Parts

No part requires regular replacement.

2.6 Maintenance
Spare parts that are required/recommended for maintenance are indicated below.
Only purchase parts directly from specified vendors or the Mitsubishi Electric Service Department.
No. Name Type Qty. Manufacture Supplier
1 Control unit protection fuse LM50 1 Daito Mitsubishi Electric System &
(5A) Communication Service Co., Ltd.
Apparatus Co.,
Ltd.
2 I/O protection fuse (6. 3A) MP63 1 Daito Mitsubishi Electric System &
Communication Service Co., Ltd.
Apparatus Co.,
Ltd.

No.2

No.1

Fig. 2-12 Fuse position

2-20 Check Items

 3 SIGNALS AND WIRING

3. SIGNALS AND WIRING

3.1 Description of Signals
3.1.1 Electrical specifications

(1) Safety DI input specifications

Tab. 3-1 Safety DI electrical specifications
Item Specifications Remarks
Input voltage at external contact ON 18 V to 25.2 V -
Input current at external contact ON 3 mA or more -
Input voltage at external contact OFF 3.8 V max. -
Input current at external contact OFF 0.7 mA or less. -
Input resistor 5 kΩ -
Tolerable chattering time (T1) 3 ms -
Input signal holding time (T2) 40 ms or more 40 ms is just a standard. The
input signal is not recognized
unless the time is held more
than the entered DSI filter time.
Input circuit operation delay time(T3, T4) 3 ms to 16 ms -
Machine side contact capacity 30 V or more, 16 mA or more -

DSI

DSI_1A

DSI 4A

DSI_1B

DSI_4B

DSO

Fig. 3-1 Safety DI electrical specifications

Description of Signals 3-21

3 SIGNALS AND WIRING

(2) Safety DO output specifications

Tab. 3-2 Safety DO electrical specifications

Item Specifications Remarks

Output type Source -
Output point 4 points 16 points for duplication
common control Non -
Common input voltage 24V+5%/-10% -
Output Current 2A max Up to 4A per point of common
Up to 8A for the entire unit
Output voltage when ON 21.6V or more -
Output voltage when OFF 2.0V or lower -
Output delay time 400us -

DSO

DSO_1A

DSO_4A

DSO_1B

DSO_4B

Fig. 3-2 Safety DO electrical specifications

3-22 Description of Signals

 3 SIGNALS AND WIRING

Fig. 3-3 Output signal connection example

Fig. 3-4 Output signal connection example

Caution
1. When using an induction load, such as a relay, a diode must be connected in parallel to the load to suppress
counter-electromotive force.
2. If the in-rush current exceeds the maximum output current, a protective resistor must be connected in series
with the load to limit the in-rush current.

Description of Signals 3-23

3 SIGNALS AND WIRING

3.1.2 Signal operation

(1) DSI signal

The DSI signals are used to switch items that the safety monitoring function monitors. Each of the signals is duplex
and the states of the two input signals need to be identical to each other. If the states of the two input signals are
different, an error occurs.
A 100-ms continuous discrepancy between DSI_A and DSI_B causes error H222* (DSI mismatch) and the SS1
function stops the robot.
Tab. 3-3: DSI Input states

Signal input state Remarks

DSI_A DSI_B
DSI Input states Enabled OFF OFF -
ON OFF A 100-ms continuous discrepancy between
OFF ON DSI_A and DSI_B will cause an error and start
SS1.
Disabled ON ON -

The DSI signal screen of RT ToolBox3 enables monitoring the input states of the DSI-A and DSI-B signals on it.
Input the DSI signal individually from the peripheral devices and test to see if ON/OFF state of the signal or wiring
is correct.
The DSI signal screen can be displayed by selecting [Online]→[Monitor]→[Signal]→[DSI signal] in Workspace.

Fig. 3-5 DSI signal monitor

(2) DSO signal

The DSO signals are for outputting the state of the safety monitoring function. DSO1 to DSO4 can be assigned
with output safety function and AREA signals. The outputs are duplex and a 100-ms continuous discrepancy
between DSO_A and DSO_B signals causes error H.2230 (DSO mismatch) to be output and the SS1 function
stops the robot.
Tab. 3-4: DSO output states

Signal output state Remarks

DSO_A DSO_B
DSO output Enabled ON ON -
states Disabled OFF OFF -

(3) Exclusive input/output signals

DSI signal and DSO signal are assigned to exclusive input/output signals 128 ~ 191. When the safety function is
enabled and any exclusive input/output signals are assigned to 128 ~ 191, L.6641(Duplicate setting (special IN))

3-24 Description of Signals

 3 SIGNALS AND WIRING

and L.6650 (Duplicate setting (special OUT)) occur.

3.2 Connector Wiring

Connector Wiring 3-25

3 SIGNALS AND WIRING

If using the safety extension unit with the CR860, fix the cable using the studs or ribs inside the controller as
shown in the figure below.

Fig. 3-6 Wiring inside the CR860 controller

When wiring cables to the outside of the controller, use the cable entrance on the side of the controller.
For information on how to wire the cable through the cable entrance, refer to the following manual:
"CR860 Controller Instruction Manual/Controller setup, basic operation, and maintenance"

3-26 Connector Wiring

 3 SIGNALS AND WIRING

3.3 Connectors and Pin Assignment

Fig. 3-7 DCIN connector

Tab. 3-5 DCIN pin assignment

Terminal name Signal name Signal description Remarks

1 DC24V +24 V power supply (input) -
2 GND 0V -
3 FG Frame ground -

17 32

1 Front view 16 Side view

Fig. 3-8 DSI connector on the unit

Tab. 3-6 DSI pin assignment

DSI
Terminal Terminal Signal
Signal name Signal description Signal description
name name name
1 DSI_1A Safety input 17 COMA+ +24 V output
2 DSI_1B Safety input 18 COMB+ +24 V output
3 DSI_2A Safety input 19 COMA+ +24 V output
4 DSI_2B Safety input 20 COMB+ +24 V output
5 DSI_3A Safety input 21 COMA+ +24 V output
6 DSI_3B Safety input 22 COMB+ +24 V output
7 DSI_4A Safety input 23 COMA+ +24 V output
8 DSI_4B Safety input 24 COMB+ +24 V output
9 DSI_5A Safety input 25 COMA+ +24 V output
10 DSI_5B Safety input 26 COMB+ +24 V output
11 DSI_6A Safety input 27 COMA+ +24 V output
12 DSI_6B Safety input 28 COMB+ +24 V output
13 DSI_7A Safety input 29 COMA+ +24 V output
14 DSI_7B Safety input 30 COMB+ +24 V output
15 DSI_8A Safety input 21 COMA+ +24 V output
16 DSI_8B Safety input 32 COMB+ +24 V output

Connectors and Pin Assignment 3-27

3 SIGNALS AND WIRING

Fig. 3-9 DSO connector (when connected to the safety extension unit)

Tab. 3-7 DSO pin assignment

DSO
Terminal Signal Terminal Signal
Signal description Signal description
name name name name
1 DSO_1A Safety relay output 11 COMA- +24 V output 1A
2 DSO_1B Safety relay output 12 COMB- +24 V output 1B
3 DSO_2A Safety relay output 13 COMA- +24 V output 2A
4 DSO_2B Safety relay output 14 COMB- +24 V output 2B
5 DSO_3A Safety relay output 15 COMA- +24 V output 3A
6 DSO_3B Safety relay output 16 COMB- +24 V output 3B
7 DSO_4A Safety relay output 17 COMA- +24 V output 4A
8 DSO_4B Safety relay output 18 COMB- +24 V output 4B
External power supply +24 V
9 IO24VA 24 V input(COMA) 19 IO0VA
ground
External power supply +24 V
10 IO24VB 24 V input(COMB) 20 IO0VB
ground

3-28 Connectors and Pin Assignment

 3 SIGNALS AND WIRING

3.4 Input Signal Connection Example

Fig. 3-9 shows a signal connection example. Devices to be connected depend on the user's system
configuration.
<Safety DI connection example>

Fig. 3-10 Input signal connection example

Input Signal Connection Example 3-29
3 SIGNALS AND WIRING

<Safety DO connection example>

Fig. 3-11 Output signal connection example

3-30 Input Signal Connection Example

 3 SIGNALS AND WIRING

3.5 Measures to Prevent Static Electricity and Noise

Use a shielded wire to avoid effects of noise. Perform wiring through the shortest path so that the cable length
can become shorter. In case of malfunction, etc. due to noise or static electricity, ground the unit using the
grounding terminals.
Static electricity may cause a malfunction. Do not touch the unit when you are statically charged. Take
measures such as installing the safety extension unit in an enclosure.

Measures to Prevent Static Electricity and Noise 3-31

4 SAFETY MONITORING FUNCTIONS

4. SAFETY MONITORING FUNCTIONS

4.1 Safety Monitoring Functions Overview
The functions available on the robot safety option are shown below:

Tab. 4-1 Safety Monitoring Functions Overview

Function Functional description See:

Safety logic edit Input This allows defining conditions for the safety monitoring 4.4 Safety Logic
function to work. Edit
Safety input signals and the AREA information of the
robot can be combined to configure the conditions to
trigger the safety monitoring functions.
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 4.5.1 Safe torque
the robot. off (STO)
Safe operating stop SOS Without shutting off the driving energy to the motors, 4.5.2 Safe
this function monitors the robot so that it stays at rest. operating stop
(SOS)
Safe stop function 1 SS1 This is a function to stop the robot safely. After stopping 4.5.3 Safe stop 1
the robot, power off the motors. (SS1)
Safe stop function 2 SS2 This is a function to stop the robot safely. While the 4.5.4 Safe stop 2
motor control keeps working after the robot stops, this (SS2)
function monitors the robot so that it does not work.
Safely-limited speed SLS This is a function to monitor the robot arm and the tools 4.5.5 Safely-limited
function so that their speeds do not exceed specified limits. speed function
• Speed monitoring in XYZ coordinates (SLS)
• Speed monitoring in joint coordinates
Safely-limited SLP This is a function to monitor whether positions of the 4.5.6 Safely-limited
position function robot arm and the hand are in a safe area. position function
(SLP)

 Restrictions
The following functions and options cannot be used in conjunction with the robot safety option.
• Parallel I/O interface (2A-RZ361, 2A-RZ371)
• Controller CPU drive mode function
• Machine lock function
• Pseudo-input function
* The pseudo-input function can be used in RT ToolBox3 simulations.
• CPU standalone mode function

4.1.1 Simulation
You can check operation of safety monitoring function with simulation on RT ToolBox3/RT ToolBox3 Pro.
(This simulation is not available on RT toolBox3 mini.)
Safety input (DSI) is assigned as following table. Switch DSI using Pseudo-input.
DSI 1 2 3 4 5 6 7 8
Signal No. 128 129 130 131 132 133 134 135

See “RT ToolBox3/RT ToolBox3 mini User’s Manual” for details on using simulation and pseudo-input.

4-32 Safety Monitoring Functions Overview

 4 SAFETY MONITORING FUNCTIONS

4.2 Startup and Basic Configuration

The safety monitoring function is disabled in the factory default setting. To use the safety monitoring function, it
needs enabling and parameters for each monitoring function needs configuring. Changing the parameters for the
safety monitoring functions requires RT ToolBox3, RT ToolBox3 mini, or RT ToolBox3 Pro separately.

4.2.1 Connecting RT ToolBox3

The safety monitoring function is configured in the online state by connecting RT ToolBox3 to the controller. For
information on how to connect RT ToolBox3 to the controller, refer to "RT ToolBox3 / RT ToolBox3 mini Instruction
manual" coming with RT ToolBox3.

4.2.2 Parameter configuration

Monitoring start conditions for the safety monitoring functions and the monitoring functions are configured through
the editing screen for safety monitoring function parameters of RT ToolBox3.

(1) Editing screen for the safety monitoring function parameters

To open the editing screen for the safety monitoring function parameters, from Workspace, select [Online] ->
[Parameter] -> [Safety Parameter] -> [Safety option] and then select an applicable screen, which enables
configuring and changing parameters concerning the safety monitoring function.

Displays editing screens for

the safety monitoring function
parameters.

Fig. 4-1 Editing screen for the safety monitoring function parameters

Parameters displayed on the editing screen for the safety monitoring function parameters
Caution can only be viewed or changed through this screen. The settings cannot be viewed or
changed on the parameter list screen of RT ToolBox3 or the parameter editing screen of
the teaching pendant (TB in short).

Startup and Basic Configuration 4-33

4 SAFETY MONITORING FUNCTIONS

(2) Parameter setting procedure

Set the parameters in the following steps.

Connecting RT ToolBox3 Connect RT ToolBox3 to the controller and put it in the online state.

Parameter configuration Display the editing screen for the safety monitoring function parameters, and
set each parameter.
Enter the password when you write the settings to the controller.
Parameter verification Read each parameter and confirm that it is set correctly.

Turn ON the power supply again The parameter settings take effect after the controller is power-cycled.

4.2.3 Password setting

The password must be changed from the default setting in order to use the safety
Caution monitoring function.

The password is configured to prevent the safety monitoring function parameters from being changed
inadvertently. The first thing to do when using the safety monitoring functions is to change the factory default
password to new one.
(Viewing the parameter settings does not require the password.)

(1) Factory default password

The factory default password is "MELFASafetyPSWD". Unless the password is changed, error L7378
(Change password) occurs when a parameter change is attempted for a parameter related to the
safety monitoring function, and the parameter cannot be changed.

(2) Password change

To change the password, open the Basic Configuration screen for the safety monitoring functions.
From Workspace, select [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Basic
Configuration].
(Robots incompatible with the safety monitoring function do not have [Safety Parameter] in the
[Movement Parameter] tree.)

Fig. 4-2: Basic Configuration screen

4-34 Startup and Basic Configuration

 4 SAFETY MONITORING FUNCTIONS

Press the [Change Password] button on the bottom of the editing screen for parameters related to the safety
monitoring function to display [Register/Change Password]. Change the password by entering a new and the
current passwords.

Fig. 4-3 Register/Change Password screen

Use 8 to 32 single-byte characters for the password. Available characters are alphanumeric characters (0 to
9, A to Z, and a to z), and they are case-sensitive.

If you forget the password, parameters related to the safety monitoring function cannot
Caution be changed. Take care to not forget the registered password. If you forget the password,
you need to restore the factory settings by clearing the memory of the controller with the
device reset operation. For the device reset operation, refer to "Instruction
manual/Detailed explanations of functions and operations" provided with the robot.

To prevent unintended change of parameters, keep passwords in a secure place so that

Caution it does not leak to any third parties.

(3) Entering password

When a parameter for the safety monitoring function is written, the password entry screen appears.

Fig. 4-4 Password input screen

Entering a correct password and pressing the [OK] button writes the parameter to the controller. If the
password is incorrect, the parameter is not written. Instead, an error dialog is displayed and then the password
entry screen appears again.
Password entry is only required when parameters are written for the first time after the editing screen for the
safety monitoring function parameters is displayed. When the user continues writing parameters without
closing the editing screen for the safety monitoring function parameters, the user does not have to enter the
password again.
Startup and Basic Configuration 4-35
4 SAFETY MONITORING FUNCTIONS

4.2.4 Enabling/disabling functions

To use the safety monitoring function, it needs to be enabled from the Basic Configuration screen for the safety
monitoring function.
The Basic Configuration screen for the safety monitoring function parameters is displayed by selecting
[Online]→[Parameter]→[Safety Parameter]→[Safety option]→[Basic Configuration] in Workspace.
Select "Enable" under "Enable / Disable the Safety Function" (for RT ToolBox3 Ver. 1.90U or later).
Select "Safety IO" under "Safety Input / Output I/F".

Fig. 4-5: Basic Configuration screen

To enable the safety monitoring function, connect the safety extension unit beforehand.
Caution If the safety monitoring function is enabled without connecting the safety extension unit,
error H2260 (No safety extension unit) occurs.

When the origin of the robot is not configured, the safety monitoring functions cannot be
Caution activated even when the function is enabled. Configure the origin of the robot before
enabling the safety monitoring functions.

4-36 Startup and Basic Configuration

 4 SAFETY MONITORING FUNCTIONS

4.2.5 Recovery mode

The recovery mode is a function to temporarily cancel the stop state activated by the SLP safety monitoring. To
use this mode, a signal to indicate that the recovery mode is enabled must be assigned to the dedicated output.
In The Output Number for Recovery Mode in the Basic Configuration screen, configure the output number.

Fig. 4-6: Output Number for Recovery Mode setting screen

If the robot intrudes into a restricted area while SLP is enabled, resetting the error requires moving the robot
outside the area. However, the servo-on operation cannot be performed while the error is occurring, which makes
it impossible to operate the robot by the JOG operation.
In such a case, the recovery mode may be used. The recovery mode enables a temporary reset of the error and
operation of the robot with the TB.
1) Change the controller mode to MANUAL.
<When R32TB is used> 2) Set the Enable switch of the teaching pendant to
ENABLE.
TB configuration 3) Press the [JOG] key to display the JOG screen.
: DISABLE
When using the force sensor function, recovery
: ENABLE
mode can be used by accessing the Force sense
* Lamp ON
TB enabled Back of TB function screen from the JOG screen.
(Front of TB for the R56TB) 4) Lightly hold the Enable switch (3-position switch).
5) For the R32TB, press and hold the [RESET] key. For
the R56TB, press and hold the [CAUTION] key.
6) Press the [SERVO] key to turn the servo on.
7) Move the robot using Jog operation.
The procedure above temporarily resets the error.
Recovery mode can be disabled using any of the following methods:
① Releasing the [RESET] key or the [CAUTION] key.
② Setting the Enable switch of the teaching pendant to DISABLE and changing the controller
mode to AUTOMATIC.
③ Displaying the JOG screen or a screen unrelated to the force sense function. (This method will
only work for the R32TB.)

Errors will still occur after recovery mode is disabled if they have not been resolved.
Press and hold the [RESET] key or [CAUTION] key when moving the robot in Jog operation mode.

Startup and Basic Configuration 4-37

4 SAFETY MONITORING FUNCTIONS

During the recovery mode, the SLP function generates no errors even if the robot
Caution intrudes into the restricted area. Take care not to let the robot interfere with peripheral
devices. Also, during the recovery mode, the safety monitoring functions are stopped
temporarily. Configure a safety system in such a way that the dedicated output signal
enables recognizing the recovery mode is active. The recovery mode disables the robot
from stopping at an operating area boundary. Take care not to move the robot toward
the outside of the operating area.

4.2.6 Parameter CRC output number

(1) Overview
A CRC can be calculated from the parameter file storing the parameter settings for the safety monitoring functions
and sent out on dedicated output signals. Monitoring the signals enables peripheral devices to detect a change
in the safety monitoring function parameters.

(2) When is a CRC calculated?

A CRC of the parameter file is calculated:
• Immediately after the controller is powered on
• After a safety monitoring function parameter is changed and it is written in the controller

* Even if the safety monitoring functions are disabled, a CRC is calculated and sent to the dedicated output signals.
* When the parameter file is written to the controller with the RT ToolBox3 restoration function, a CRC is calculated
when the controller is power-cycled. The CRC becomes the same as one calculated when the written parameter
file is backed up.

4-38 Startup and Basic Configuration

 4 SAFETY MONITORING FUNCTIONS

(3) Dedicated output signals

A CRC of the parameter file is output to the dedicated output signals configured in the Basic Configuration screen.
The output signal width is fixed to 16 bits.

Example)
• Parameter CRC output number: The start number = 16, the end number = 31
• CRC value: DB17 (Hexadecimal)
In the above case, the signals are output as follows:
Output
出力3131 Output
出力16 16

(D) (B) (1) (7)

：ON ：OFF

Fig. 4-7: Parameter file CRC output number

Startup and Basic Configuration 4-39

4 SAFETY MONITORING FUNCTIONS

4.3 Defining 3D Models

This chapter talks about defining shape models for the robot and the robot tools used for the safety monitoring.
The shape models defined in this chapter are used for judgment in the safely-limited speed function, safely-limited
position function, and Area Input.

4.3.1 3D Monitor
The 3D Monitor screen of RT ToolBox3 enables viewing shape models of the robot and tools and the area settings
used for the safely-limited position function and AREA Input.

(1) Displaying the 3D Monitor

Double-clicking [3D Monitor] in Workspace opens the 3D Monitor screen.

Fig. 4-8: Displaying the 3D Monitor

(2) Layout tree

Selecting a project name (RC1 in the example below) from the layout tree displays information on the robot in
Properties.

Fig. 4-9: Layout tree

4-40 Defining 3D Models

 4 SAFETY MONITORING FUNCTIONS

(3) Properties
[Safe monitoring] in Properties enables viewing the relevant settings.

(a) Arm model

Selecting [AREA Input] -> [Arm model] in Properties and setting Display to True displays a shape model of
the robot used for the safety monitoring function in the 3D Monitor screen.

Fig. 4-10: Arm model

(b) Tool model

Selecting [Display tool model] in Properties and setting the items of 1 through 4 to True displays a tool model
used for the safety monitoring function in the 3D Monitor screen.

Fig. 4-11: Tool model

Defining 3D Models 4-41

4 SAFETY MONITORING FUNCTIONS

(c) Safety monitoring plane

Selecting [Display monitoring plane] in Properties and setting the items of 1 through 8 to True displays the
selected safety monitoring planes 1 to 8 in the 3D Monitor screen.

Fig. 4-12: Safety monitoring plane

(d) Safety monitoring area

Selecting [Display monitoring area] in Properties and setting the items of 1 through 8 to True displays the
selected safety monitoring areas 1 to 8 in the 3D Monitor screen.

Fig. 4-13: Safety monitoring area

4-42 Defining 3D Models

 4 SAFETY MONITORING FUNCTIONS

4.3.2 Arm model

The shape of the robot arm has been modeled with sphere models and cylinder models and the robot model is
used for judging the speed and area of the robot.
The model can be used as it is in the initial condition. However, when cables, solenoid valves, or etc. are
attached to the robot arm, resize the model as necessary.

(1) Changing monitoring models

To change monitoring models, open the Robot Model screen from Workspace by selecting [Online] ->
[Parameter] -> [Safety Parameter] -> [Safety option] -> [Robot Model].
Moving the slider bar resizes the monitoring model.

Monitoring model size: 70% Monitoring model size: 100% Monitoring model size: 150%

Fig. 4-14: Changing monitoring models

Defining 3D Models 4-43

4 SAFETY MONITORING FUNCTIONS

4.3.3 Tool model

The shape of a robot tool is defined with up to four sphere models. Resize the model as necessary.

(1) Changing monitoring models

To change monitoring models, open the Robot Model screen from Workspace by selecting [Online] -> [Parameter]
-> [Safety Parameter] -> [Safety option] -> [Robot Model].
In Pos. 1 to Pos. 4 of Tool model, enter the coordinates of the central point and the radius of a sphere model.
They need configuring in the mechanical interface coordinate system.
<Mechanical interface coordinate system>
A coordinate system with its origin at the center of a flange is called the mechanical interface coordinate system.
For details on the mechanical interface coordinate system, refer to the separate "Instruction Manual/Detailed
Explanations of Functions and Operations" (“About tool coordinate system [mechanical interface coordinate
system]” and “Standard Tool Coordinates”).

When using the safely-limited speed function (SLS), set the center point of the tool
Caution monitoring model to the position where the maximum speed is reached when the robot
moves.

4-44 Defining 3D Models

 4 SAFETY MONITORING FUNCTIONS

(2) Enabling or disabling monitoring models

Entering a value larger than 0 in Radius enables the tool model position monitoring.
The [Enable] and [Disable] buttons for each position configures the speed monitoring.

Fig. 4-15: Tool model

After configuring the parameters, check that the settings are correct with 3D Monitor.

Defining 3D Models 4-45

4 SAFETY MONITORING FUNCTIONS

4.4 Safety Logic Edit

4.4.1 Safety input settings
The safety logic edit function enables configuring conditions to start the safety monitoring function. Associating
input states of DSI Input, Area Input, Logic Input, and Mode Input with safety monitoring functions to start enables
switching safety monitoring items according to the input states.
(Details on DSI Input, Area Input, Logic Input, and Mode Input are provided in this section.)

To configuring the settings, open the Safety Input screen from Workspace by selecting [Online] -> [Parameter] ->
[Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Safety Input (Safety IO)].

Fig. 4-16: Safety monitoring logic configuration screen

Tab. 4-2 Explanation of terminology

Category String Description See:

Safety DSIn (n = 1 to 8) DSI Input states (1)DSI Input
input state AREAn (n = 1 to Area Input states (2)Area Input
3)
LOGIC This outputs results of AND operation of DSIn (3)Logic Input
inputs and AREAn inputs.
MODE Mode selector switch states (4)Mode Input
Safety SS1 SS1 command: Starts the SS1 function -
monitoring SS2 SS2 command: Starts the SS2 function -
command SLSn (n = 1 to 3) SLSn command: Controls the start and end of -
SLSn functions
SLSM SLSM command: Controls the start and end of -
SLSM functions
SLPn (n = 1 to 3) SLPn command: Controls the start and end of -
SLPn functions
SLPM SLPM command: Controls the start and end of -
SLPM functions

4-46 Safety Logic Edit

 4 SAFETY MONITORING FUNCTIONS

The matrix in the Safety Input screen has rows representing safety inputs (DSI, AREA, LOGIC, MODE). The
columns represent safety monitoring start commands for each safety function (SS1, SS2, SLS1, SLS2, SLS3,
SLSM, SLP1, SLP2, SLP3, SLPM).
Checking intersections of the rows and columns defines safety functions started when the individual safety inputs
are enabled.

Example 1: To start the safely-limited speed function 1 (SLS1) when DSI2 is enabled, check the intersection of
DSI2 and SLS1 as shown in Fig 4-17.

Fig 4-17: Example 1 of safety logic (safety input) configuration

Also, one safety input can start multiple safety functions.

Example 2: Enabling DSI3 starts SLS1, SLS2, and SLP1 and enabling DSI4 starts SLS3.

Fig 4-18: Example 2 of safety logic (safety input) configuration

Safety Logic Edit 4-47

4 SAFETY MONITORING FUNCTIONS

(1) DSI Input

(a) Overview
The DSI input is enabled or disabled depending on the states of redundant signals input to the DSI connector
of the safety extension unit. Input of up to eight points is supported.Tab. 4-3 shows the relation of the DSI Input
to DSInA and DSInB.

Tab. 4-3: DSI Input states

DSI_A DSI_B Remarks

DSIn input Enabled OFF OFF -
states ON OFF A 100-ms continuous discrepancy between
(n = 1 to 8) OFF ON DSI_A and DSI_B will cause error H222: (DSI
mismatch) and start SS1.
Disabled ON ON -

(b) Timing diagram

① Normal operation

ON
DSInA
OFF

ON
DSInB
OFF

DSIn input Enabled

有効
DSIn入力
Disabled
無効

Fig. 4-19: DSIn timing diagram

② When a discrepancy between DSInA and DSInB is detected

If a discrepancy between DSInA and DSInB (n = 1 to 8) continues for 100 ms, error H222* (DSI mismatch)
occurs.

100ms

ON
DSInA
OFF

ON
DSInB
OFF

DSIn input
DSIn入力
Enabled
有効
Disabled
無効

Enabled
有効
SS1 command
SS1指令
Disabled
無効
(n=1-8)

Fig. 4-20: DSIn timing diagram

4-48 Safety Logic Edit

 4 SAFETY MONITORING FUNCTIONS

(c) DSI filter configuration

The DSI signal filtering can prevent wrong detection caused by chattering in the DSInA or DSInB signals or by
test pulses from input devices.

Enter a filter time in [DSI Filter Time] in the Safety Input screen.

Parameter Description Default

DSI Filter Time A filter time for the DSI signals are 10ms
entered.
The larger the setting is, the stronger
the noise resistance becomes but the
more the signal input detection is
delayed.
[Unit]: ms
[Setting range]: 0 to 100
Fig. 4-21: DSI filter configuration

The DSI filter time and DSI1 input (enabled/disabled) are shown in the following diagram:
Filter time
フィルタ時間 Filter time
フィルタ時間

ON
DSInA
OFF

ON
DSInB
OFF

DSIn input Enabled

有効
DSIn入力
Disabled
無効

Fig. 4-22: Timing diagram of the DSI filter time and DSI1 input

Safety Logic Edit 4-49

4 SAFETY MONITORING FUNCTIONS

(2) Area Input

(a) Overview
AREA Input is a state that is enabled (or disabled) when the robot intrudes into or moves outside an area that
is specified beforehand. Configuration of up to three areas is supported.

The relation of the positions of the arm model and tool model, which are defined in Chapter 4.3 , to an area
specified in this sub-section is monitored in real time, which switches AREA Input between the enabled and
disabled states.

Area 1

Fig. 4-23: Area input

(b) Timing diagram

Intrusion of a monitoring position of the robot into a specified area enables the AREAn input.

Specified
設定した
Robot position
ロボット位置 area
領域

Enabled
有効
AREAn入力
AREAn input
Disabled
無効

Fig. 4-24: AREA Input timing diagram

4-50 Safety Logic Edit

 4 SAFETY MONITORING FUNCTIONS

(c) Configuring Area Input monitoring conditions

Areas for area signals is configured in the Area Input screen.
Selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Area Input]
from Workspace displays the Area Input screen.

Fig. 4-25: Area Input

1) Area Input
Configuration of up to three types of area input conditions is supported. From the pull-down menu of
Area Input, select an area to configure. (Area 1 to 3)

2) Area Monitoring
This sets the area monitoring to Enable or Disable. Selecting Disable results in no area judgment
processing performed, always disabling Area Input.

3) Input Becomes on When Robot is

• To enable Area Input when a monitoring position of the robot intrudes into the area, select [Inside of
the Area].
• To enable Area Input when a monitoring position of the robot moves out of the area, select Outside of
the Area.
Both settings enable Area Input when a monitoring position of the robot comes into contact with the area.

4) Monitoring Position
This specifies a monitoring position of the robot subject to the judgment of whether it is inside or outside
of the monitored area.

5) Area Definition
This specifies the monitored area. The area is defined as a cuboid parallel to a coordinate system formed
from two points diagonal to each other. It is specified by the base coordinates system.

Safety Logic Edit 4-51

4 SAFETY MONITORING FUNCTIONS

Z
Diagonal point 2
（X2,Y2,Z2）
Diagonal point 1
（X1,Y1,Z1）

Fig. 4-26: Area Input area Definition

(d) How to view the Area Input state

State variable M_SfIArea enables obtaining the Area Input state.
The Operation Check screen for the safety input also enables viewing it.

4-52 Safety Logic Edit

 4 SAFETY MONITORING FUNCTIONS

(3) Logic Input

(a) Overview
Logic Input is a state enabled based on a combination of DSIn inputs (n = 1 to 8) and AREAm inputs (m = 1
to 3).
It enables the AND condition of DSI and AREA to start the safety functions.

From Workspace, select [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] ->
[Safety Input (Safety IO)] and open the Safety Input screen, which enables configuring of LOGIC (circled in red in
the figure below).

The following is an example for inputting the SLS1 command when both DSI1 and AREA1 are enabled.

Fig. 4-27: Logic Input

(b) How to view the Logic Input state

State variable M_Logic enables obtaining the Logic Input state.
The Operation Check screen for the safety input also enables viewing it.

Safety Logic Edit 4-53

4 SAFETY MONITORING FUNCTIONS

(4) Mode Input

Mode Input is input that works based on the mode selector switch state (MANUAL or AUTO) of the robot controller.
It enables switching automatically the safety monitoring functions based on the mode selector switch state.
Configure the safety monitoring functions to always enable in the AUTO mode or MANUAL mode regardless of
DSI Input, Area Input, or Logic Input.
The MANUAL mode always enables SLSM and SLPM.

Fig. 4-28: Mode Input

The configuration above is an example for enabling the SLS2 and the SLP1 commands in the AUTO mode and
also enabling the SLSM and SLPM commands in the MANUAL mode.

4-54 Safety Logic Edit

 4 SAFETY MONITORING FUNCTIONS

4.4.2 Safety output configuration

This enables assigning the Enable and Disable states of the safety monitoring states (STO, SOS, SS1, SS2, SLS*,
SLP*) and Area states to DSO1 to DSO4 of the safety extension unit.
The configuration is used for displaying safety monitoring states or connecting other safety devices.

Fig. 4-29: Safety output configuration

The matrix in the Safety Output screen has rows representing the safety outputs (DSO1 to DSO4), safety
monitoring states (SS1, SS2, SLS1, SLS2, SLS3, SLSM, SLP1, SLP2, SLP3, SLPM) for the safety functions, and
Area Input (AREA1 to AREA3). The columns represent target safety functions and Area Inputs.
Checking intersections of the rows and columns defines safety signals output when the individual safety
monitoring states and Area Inputs become Enable or Disable.

Example 1) To turn on DSO2 when SOS is enabled, check the intersection of DSO2 and SOS (at Enable).

Fig. 4-30: Example of safety output configuration

LOGIC enables the AND and OR conditions of Enable and Disable of multiple safety monitoring states to control
turning on or off the DSO_ signals.

Safety Logic Edit 4-55

4 SAFETY MONITORING FUNCTIONS

Example 2) The following configuration is for outputting DSO1 when SLS1 is enabled and AREA1 disabled.

Fig. 4-31: Example of safety output configuration

Output settings for safety monitoring states SS1 and SS2 are supported by RT ToolBox3
Caution
Ver. 1.90U or later. To assign SS1 and SS2 to DSO outputs, use RT ToolBox3 Ver. 1.90U
or later.

When SS1 and SS2 are assigned to DSO outputs, pressing [Write] on the Safety Output
Caution
screen in RT ToolBox3 Ver. 1.82L or earlier will delete the assignments.

Precautions when using the CR860 controller

Caution
For CR860 controllers with software versions other than D1 or later, safety output is used
to display status and is not a safety signal. Do not use it to control safety devices.

4-56 Safety Logic Edit

 4 SAFETY MONITORING FUNCTIONS

4.4.3 Checking operation of the safety inputs and outputs

After configuring the safety inputs and outputs, be sure to check that they operate as intended.

(1) How to check operation of the safety inputs

From Workspace, select [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] ->
[Safety Input (Safety IO)] to open the Safety Input screen. Pressing the Operation Check button in this screen
enables checking current states of the safety inputs and safety monitoring.

Fig. 4-32: Checking operation of the safety input

(2) How to check operation of the safety outputs

From Workspace, select [Online] -> [Parameter] -> [Safety parameter] -> [Safety option] -> [Safety Logic] ->
[Safety Output (Safety IO)] to open the Safety Output screen. Pressing the Operation Check button in this screen
enables checking current states of the safety inputs and current states of safety monitoring.

Fig. 4-33: Checking operation of the safety output

Safety Logic Edit 4-57

4 SAFETY MONITORING FUNCTIONS

4.5 Safety Monitoring Functions

This chapter provides the functional overview and configuration method of the safety monitoring function.

4.5.1 Safe torque off (STO)

(1) Overview
This function electrically shuts off the motor driving energy according to input signals from external devices.
(This function corresponds to stop category 0 of IEC 60204-1.)

(2) Operation sequence

(a) STO start conditions
<SS1 command or emergency stop>
To trigger the STO function, input the SS1 command or the emergency stop signal. Inputting the SS1
command or the emergency stop signal causes the robot to start decelerating and, after the robot stops
safely, the STO function starts. For details on the sequence, see chapter 4.5.3 .
(No external devices signal can directly start the STO function.)

<When an error occurs>

The STO function is triggered if:
・ The robot fails to stop within a deceleration monitoring period while SS1 is running.
・ The robot fails to stop within a deceleration monitoring period while SS2 is running
・ An internal error occurs which hinders the robot control
・ Communication with the safety extension unit fails

(b) Program operation state

Program operation suspends during the STO monitoring. To resume, it is necessary to cancel all the SS1
start conditions and then perform program start operation.

(c) Operation restrictions

Operation restrictions during SS1/STO monitoring are shown in following table.

Tab. 4-4: Operation restrictions during SS1/STO monitoring

Operation Available Unavailable Remarks

Servo-on ✓ Performing the servo-on operation
during the SS1/STO monitoring
causes error H2270 (Servo-on
prohibited during SS1/STO).
Program operation start ✓ The ALWAYS program does not
stop.
The ERROR program is not
performed.
JOG operation ✓
Opening or closing hand ✓ For the TB operation only.

(3) Configuring monitoring conditions

There are no parameters concerning the STO function.

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 4 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.

Tab. 4-5: SOS automatic resumption mode

SOS Disabled Enabling the SS2 command during a program operation suspends the
automatic operation and causes no program start operation to be accepted.
resumption Resuming the program requires disabling the SS2 command and then
(Disabled by performing program start operation.
factory Enabled Enabling the SS2 command during a program operation suspends the
default.) operation once a command concerning the robot movement is
performed. Disabling the SS2 command automatically resumes the
program operation.

(c) Operation restrictions

Operation restrictions during the SOS monitoring are shown in Table Tab. 4-6.

Tab. 4-6: Operation restrictions during the SOS monitoring

SOS automatic SOS automatic

resumption disabled resumption enabled
Operation Available Unavailable Available Unavailable
Servo-on - -
Servo-off ✔ ✔
Program operation start ✔ ✔
JOG operation ✔ ✔
Opening or closing ✔ ✔
hand

・ 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.

Safety Monitoring Functions 4-59

4 SAFETY MONITORING FUNCTIONS

(d) When the robot moves during the SOS monitoring

When one of the following items exceeds the allowable range during the SOS monitoring, the SS1
function stops the robot.
(i) Joint position command
(ii) Joint position FB
(iii) Joint speed command
(iv) Joint speed FB
For (i) and (ii), the values are recorded at the beginning of the SOS monitoring and the judgments are
made based on the differences between the values and the current ones.

Joint
関節速度指令speed command
Joint
関節速度FBspeed FB
Allowable speed
速度許容値
0

Joint
関節位置指令position command
Joint
関節位置FBposition FB
Allowable position
位置許容値

Position at the beginning of the SOS monitoring

SOS監視開始時の位置
Enabled
有効
SOS monitoring
SOS監視
Disabled
無効

STO monitoring
STO監視 Enabled
有効
Disabled
無効
Fig. 4-34: When the robot moves during the SOS monitoring

(e) When servos are turned off during the SOS monitoring
Turning off servos when the SS2 command is enabled disables the SS2 monitoring and the SOS
monitoring. Turning on the servos again with the SS2 command enabled will enable the SOS monitoring
200 ms after the servos are turned on.
200ms

Servo-on/off ON
サーボON/OFF
OFF

Enabled
有効
SS2 command
SS2指令
Disabled
無効

Enabled
有効
SS2 monitoring
SS2監視
無効
Disabled

Enabled
有効
SOS monitoring
SOS監視
無効
Disabled

Fig. 4-35: When servos are turned off during the SOS monitoring

4-60 Safety Monitoring Functions

 4 SAFETY MONITORING FUNCTIONS

(3) Configuring monitoring conditions

Parameters related to the SOS function can be configured in the SOS screen, which can be opened by
going to Workspace and selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] ->
[SOS].
Tab. 4-7: SOS related parameters

Setting item Description Default

Safe stop speed This configures speed monitoring thresholds for 1.00 [deg./s] [mm/s]
the SOS monitoring.
Safe stopping This configures allowable travel distances for the 1.00 [deg.] [mm]
distance SOS monitoring.
SOS automatic This sets the SOS automatic resumption mode to Disabled
resumption mode Enable or Disable.
Selecting Enable leads the program to
automatically resume when the SOS monitoring
is disabled.
For details, refer to Tab. 4-5: SOS automatic
resumption mode.

Fig. 4-36: Configuring monitoring conditions

Safety Monitoring Functions 4-61

4 SAFETY MONITORING FUNCTIONS

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.
For CR800 controllers with software version D1 or later, the SS1 function will operate even under the
following circumstances:
• When the enable switch on the back of the T/B is released or firmly pressed down in MANUAL
mode.
For CR860 controllers with software version D1 or later, the SS1 function will operate even under the
following circumstances:
• When the enable switch on the back of the T/B is released or firmly pressed down in MANUAL
mode while the door switch input is on (door closed).
• When the enable switch on the back of the T/B or enabling device are released or firmly pressed
down (individually or simultaneously) in MANUAL mode while the door switch input is off (door
open).
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.

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 4 SAFETY MONITORING FUNCTIONS

Speed
速度 SS1 STO

Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Speed
速度
Command
指令
Safe stop speed
安全停止速度
Time
時間
0r/min 7.1ms

Deceleration
減速遅延時間 delay

Enabled
有効
SS1 command
SS1指令 Disabled
無効

Enabled
有効
SS1 monitoring
SS1監視 Disabled
無効

Enabled
有効
STO monitoring
STO監視 Disabled
無効

Brake Released
ブレーキ 解除
Locked
ロック

Motor power supply

モータ電源供給 ON
OFF

Fig. 4-37: 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.

(b) When deceleration fails with SS1 enabled

Elapsed time from when the SS1 command is enabled is measured. If the motors fail to stop by the time the
SS1 deceleration monitoring time elapses, error H2280 occurs. The operation sequence is shown below:
Speed
速度 SS1 STO

Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Speed
速度
Safe
指令
stop speed Command
安全停止速度 Time
時間

Deceleration
減速遅延時間 delay

Enabled
有効
SS1 command
SS1指令 Disabled
無効

Enabled
有効
SS1 monitoring
SS1監視 Disabled
無効

Enabled
STO monitoring 有効
STO監視 Disabled
無効

Enabled
SS1エラー
SS1 error 有効
（H2280） Disabled
無効

Fig. 4-38: When deceleration fails with SS1 enabled

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 4 SAFETY MONITORING FUNCTIONS

(c) When the SS1 command is canceled with SS1 enabled before the STO monitoring state becomes
active
Once the SS1 command is enabled, the SS1 monitoring cannot be canceled until the STO monitoring state
becomes active (the deceleration and stop operation cannot be canceled). After the STO monitoring state
becomes active, the SS1 monitoring is canceled.
Speed
速度 SS1 STO

Speed command Feedback

ﾌｨｰﾄﾞﾊﾞｯｸ
速度指令
指令
Command
Safe stop speed
安全停止速度 Time
時間

Deceleration
減速遅延時間 delay

Enabled
有効
SS1 command
SS1指令
Disabled
無効

Enabled
有効
SS1 monitoring
SS1監視
Disabled
無効

STO monitoring Enabled

有効
STO監視
Disabled
無効

Fig. 4-39: When the SS1 command is canceled with SS1 enabled before the STO monitoring state becomes
active

(d) When the origin has not been configured

When the origin has not been configured, inputting the SS1 command (emergency stop, error) activates the
STO monitoring state immediately.

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(3) Configuring monitoring conditions

(a) Safe stop speed
In Workspace, open the SOS screen by selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety
option] -> [SOS]. Then, in the Stop Speed items, enter speeds at which the motors are judged to have stopped.
These settings are shared by the SS1, SS2, and SOS functions.

Fig. 4-40: Safe stop speed

(b) Deceleration monitoring time

Deceleration monitoring time differs from model to model. Deceleration monitoring time cannot be changed.
Model SS1 deceleration monitoring time [ms]
RV-35FR 2667.1
RV-50FR 2667.1
RV-80FR 3987.1

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4 SAFETY MONITORING FUNCTIONS

(c) Time performance

The time from signal input to STO shuts off when deceleration fales with SS1 enabled is as follow.

T1: The time from signal input to SS1 activation including:

T1-1: SS1 reaction time: 7.1ms
T1-2: Input signal filter
DSI: DSI Filter Time (refer to (c) DSI filter configuration.)
External emergency stop input: 7.1ms
Emergency stop switch (Operation panel): 7.1ms
Emergency stop switch (T/B): 7.1ms
Door switch input: 32.1ms
Enabling device input: 32.1ms
Mode selector: 32.1ms
3-position enable switch: 32.1ms
T2: The time from SS1 activation to STO shuts off including:
T2-1: SS1 deceleration monitoring time
T2-2: STO reaction time：7.1ms

The time from signal input of robot controller to STO shuts off
= <T1-1> + <T1-2> + <T2-1> + <T2-2>

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4.5.4 Safe stop 2 (SS2)

(1) Overview
The SS2 command input starts deceleration and, after the motors of all the axes are decreased to a speed
at or below the safe stop speed, SOS is started. (This function corresponds to stop category 2 of IEC
60204-1.)
Failure in deceleration within a specified maximum delay causes error H2281 (SS2 deceleration timeout).

(2) Operation sequence

(a) SS2 command (Normal operation)
The operation sequence of the SS2 function is as follows. Enabling the SS2 command while the robot is in
operation starts the SS2 function. The triggered SS2 starts deceleration at a specified deceleration rate.
After the speed command reaches the safety speed, SOS starts position monitoring with servo-on state
kept. Disabling the SS2 command restores the normal operation state.

Speed
速度 SS2 SOS

Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Speed
速度
Safe stop speed Command
指令
安全停止速度
Time
時間
0r/min
Deceleration
減速遅延時間 delay

Enabled
有効
SS2 command
SS2指令
Disabled
無効

Enabled
有効
SS2 monitoring
SS2監視
Disabled
無効

Enabled
有効
SOS monitoring
SOS監視
Disabled
無効

Brake Released
ブレーキ 解除
Locked
ロック

Motorモータ電源供給
power supply ON
OFF

Fig. 4-41: SS2 command (Normal operation)

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 4 SAFETY MONITORING FUNCTIONS

(b) When the motors fail to decelerate within monitoring time with SS2 enabled
Time is measured after the SS2 command is enabled. If the motors fail to stop by the time the SS2
deceleration monitoring time elapses, error H2281 occurs and STO shuts off the driving power. The
operation sequence is shown below:
Speed
速度 SS2 STO

Speed Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
速度
Safe stop speed Command
指令
安全停止速度 Time
時間

Deceleration
減速遅延時間 delay

Enabled
有効
SS2 command
SS2指令
Disabled
無効

Enabled
有効
SS2 monitoring
SS2監視
Disabled
無効

Enabled
有効
STO monitoring
STO監視
無効
Disabled

SS2 error
SS2エラー Enabled
有効
（H2281） Disabled
無効

Fig. 4-42: When the motors fail to decelerate within monitoring time with SS2 enabled

(c) When the SS2 command is disabled before the motors stop with SS2 enabled
Once the SS2 command is enabled, the SS2 monitoring cannot be canceled until the SOS monitoring state
becomes active (the deceleration and stop operation cannot be canceled). After the SOS state becomes
active, the SS2 monitoring is canceled.
Speed
速度 SS2 SOS

Speed command Feedback

ﾌｨｰﾄﾞﾊﾞｯｸ
速度指令
Command
指令
Safe stop speed
安全停止速度 Time
時間

Deceleration
減速遅延時間 delay

Enabled
有効
SS2 command
SS2指令
Disabled
無効

Enabled
有効
SS2SS2監視
monitoring
Disabled
無効

Enabled
有効
SOSSOS監視
monitoring
Disabled
無効

Fig. 4-43: When the SS2 command is disabled before the motors stop with SS2 enabled

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(3) Configuring monitoring conditions

(a) Safe stop speed
From Online, open the SOS screen by selecting [Parameter] -> [Safety Parameter] -> [Safety option] -> [SOS].
Then, in the Stop Speed items, enter speeds at which the motors are judged to have stopped. These settings
are shared by the SS1, SS2, and SOS functions.

Fig. 4-44: Safe stop speed

(b) Deceleration monitoring time

Deceleration monitoring time differs from model to model. Deceleration monitoring time cannot be changed.

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 4 SAFETY MONITORING FUNCTIONS

4.5.5 Safely-limited speed function (SLS)

(1) Overview
This is a function to monitor the robot and the robot tool speeds so that they are under specified speed limits.
When they are above a speed limit, the SS1 function stops the robot.
Configuration of up to four different types (SLS1, SLS2, SLS3, SLSM) of speed monitoring conditions are
supported. During SLS monitoring, the devices move at speeds specified in Speed Limit OVRD.

(2) Operation sequence

(a) SLS_ function basic operation
Enabling the SLS_ command starts the SLS function. The moment the SLS_ command is enabled,
deceleration starts at rates specified in Speed Limit OVRD and, after the deceleration monitoring time elapses,
the speed monitoring (SLS monitoring) starts.

Tab. 4-8: SLS function start conditions

Function Functional Description

condition
SLS1 SLS1 command When the signal assigned to the SLS1
input command is input
SLS2 SLS2 command When the signal assigned to the SLS2
input command is input
SLS3 SLS3 command When the signal assigned to the SLS3
input command is input
SLSM SLSM When the signal assigned to the SLSM
command input command is input

Speed
速度 SLS
Speed
速度指令 command
Speed feedback
速度ﾌｨｰﾄﾞﾊﾞｯｸ Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Command
指令
SLS監視速度
SLS monitoring speed Time
時間

Deceleration
減速監視時間
monitoring time

Enabled
SLS_ command 有効
SLS_指令 Disabled
無効

Enabled
有効
SLS_ monitoring
SLS_監視
Disabled
無効

Fig. 4-45: SLS_ function basic operation

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(b) When a specified speed limit is exceeded during the SLS_ monitoring
Detection of a speed command or speed feedback exceeding the monitoring speed during the SLS_
monitoring causes error 230* (Abnormal SLS joint speed) or error 231* (Abnormal SLS orthogonal speed).
The operation sequence is shown in the figure below:
Speed
速度 SLS
Speed
速度指令 command
Speed feedback
速度ﾌｨｰﾄﾞﾊﾞｯｸ Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
SLS monitoring
SLS監視速度speed 指令
Command
Time
時間

Deceleration
減速監視時間
monitoring time

Enabled
有効
SLS_指令
SLS_ command
Disabled
無効

Enabled
有効
SLS_ monitoring
SLS_監視
Disabled
無効

SS1 command Enabled

有効
SS1指令
Enabled
有効

Fig. 4-46: When a specified speed limit is exceeded during the SLS_ monitoring

(c) When the devices fail to decelerate within a specified time with SLS enabled
With SLS enabled, if the SLS monitoring speed limit is exceeded or the devices fail to decelerate to the
monitoring speed within the SLS deceleration time, error H230* (Abnormal SLS joint speed) or error H231*
(Abnormal SLS orthogonal speed) occurs and the SS1 function stops the devices.
The errors occur when the limit overrides are too large or the deceleration monitoring time is too short.
Speed
速度 SLS SS1/STO

Speed
速度指令 command Feedback
ﾌｨｰﾄﾞﾊﾞｯｸ
Speed feedback
速度フィードバック 指令
Command
SLS監視速度
SLS monitoring speed
Time
時間
Deceleration
減速監視時間
monitoring time

Enabled
有効
SLS_指令
SLS_ command
Disabled
無効

Enabled
有効
SLS_ monitoring
SLS_監視 Disabled
無効

SS1 command ON（有効）

ON (Enabled)
SS1指令
OFF (Disabled)
OFF（無効）
Fig. 4-47: When the devices fail to decelerate within a specified time with SLS enabled

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4 SAFETY MONITORING FUNCTIONS

(d) Operation with the servos on or off

When the servos are off, the SLS monitoring is disabled. The SLS monitoring is enabled 200 ms after the
servos are turned on.
200ms

Servo-on/off ON
サーボON/OFF
OFF

Enabled
有効
SLS指令
SLS command
Disabled
無効

Enabled
有効
SLS監視
SLS monitoring 無効
Disabled

Fig. 4-48: Operation with the servos on or off

(e) When multiple SLS commands are input simultaneously

When multiple SLS commands are input simultaneously, the monitoring is performed based on all the enabled
monitoring speeds.
The limit override applicable in this case is the smallest one of the values for the SLS functions.

Deceleration SLS1 monitoring in operation

SLS1監視中
monitoring time
減速監視時間 SLS2 monitoring
SLS2監視中 in operation
Deceleration
monitoring time
減速監視時間

Speed
速度

SLS speed 1
SLS速度1 SLS speed 2
SLS速度2

Enabled
有効
SLS1 command
SLS1指令
Disabled
無効

Enabled
有効
SLS2 command
SLS2指令
Disabled
無効

SLS1 monitoring Enabled

有効
SLS1監視
Disabled
無効

Enabled
有効
SLS2 monitoring Disabled
SLS2監視
無効

Fig. 4-49: When multiple SLS commands are input simultaneously

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(3) Configuring monitoring conditions

(a) Speed monitoring position
Positions subject to robot speed monitoring are defined with an arm model and tool models. For configuration
of an arm model and tool models, see 4.3 Defining 3D Models4.2.5 . Positions subject to monitoring on an
arm model are A1, A2, and the origin of the mechanical interface coordinates in the figure below. Positions
subject to monitoring on tool models are T1, T2, T3, and T4 in the figure below.
Set the speed monitoring position at the point where the maximum speed can be monitored when the robot
moves.

Arm model Tool model

A2
A1

T3
The origin of T4
the mechanical
interface

T1 T2
The center of the The center of the
sphere models sphere models

Fig. 4-50: Speed monitoring position

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(b) Monitoring speed limits

There are two modes available for configuration of the SLS monitoring speeds: Simple Mode and Detail Mode.
Detail Mode enables detailed configuration of allowable speeds. Besides synthesized speeds, it allows
monitoring of speeds of X, Y, Z components and joint angular speeds.
Tab. 4-9: Items available for monitoring in each SLS mode

Monitoring items Configuration Setting range

mode
Simple Detail
Orthogonal Arm model composite ✓ ✓ 0 mm/s to 100000 mm/s
speed limit speed (0 to 250 mm/s for
+X speed ✓ SLSM)
Tool model
-X speed ✓
+Y speed ✓
Mechanical I/F -Y speed ✓
+Z speed ✓
-Z speed ✓
Joint speed limit Joint axes J1 speed ✓ 0% to 100%
J1 to J6 J2 speed ✓ (Configure a ratio to the
maximum speed.)
J3 speed ✓
J4 speed ✓
J5 speed ✓
J6 speed ✓
Additional axis J7 speed ✓
J7 to J8 J8 speed ✓

From Workspace of RT ToolBox3, open the Speed screen by selecting [Online] -> [Parameter] -> [Safety
Parameter] -> [Safety option] -> [SLS] -> [Speed] and configure the speed limits.

Fig. 4-51: Simple mode of monitoring speed limits

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Fig. 4-52: Detail mode of monitoring speed limits

(c) Restricting the movement speed

The speed monitoring restricts the speed of movements made based on the interpolation command with
Speed Limit OVRD specified beforehand. However, if a speed to which Speed Limit OVRD is applied exceeds
the monitoring speed, error H230* (Abnormal SLS joint speed) or error H231* (Abnormal SLS orthogonal
speed) occurs and the SS1 function stops the robot. To avoid errors in such cases, review the settings for
the monitoring speed and Speed Limit OVRD or the speed settings of the robot program (Spd command,
override, etc.).

A movement speed to which Speed Limit OVRD is applied is as follows:

Robot movement speed = Commanded speed specified in the program, etc. × Speed Limit OVRD (%) / 100

Fig. 4-53: Restricting the movement speed

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4 SAFETY MONITORING FUNCTIONS

Restriction on the commanded speed by Speed Limit OVRD is effective for the speed of
Caution movements made by the interpolation command. The restriction is not effective for the
correction speed generated by the compliance control, force sense control, or tracking
function. While these functions are executed, an error may occur depending on the
settings for operation or monitoring speed.

Speed Limit OVRD is not effective for the movement speed under real-time external
Caution control (Mxt command). Correct the commanded position according to the monitoring
speed on the commanded position generation side.

(d) Deceleration monitoring time

This field is for configuring wait time from when the SLS command is enabled to when monitoring starts.
When a speed is above an allowable speed after the wait time elapses, an error occurs.

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(4) Operation check

The following shows how to check that the monitoring speed is configured correctly.

(a) How to check the SLS monitoring state

From Workspace, open the Operation Check screen by selecting [Online] -> [Parameter] -> [Safety
Parameter] -> [Safety option] -> [SLS] -> [Operation Check] and check the SLS monitoring state and speed
measurement values.
The measurement value fields hold the maximum values of speed feedback for individual monitoring
positions. The reset button clears the maximum values.

Fig. 4-54: How to check the SLS monitoring state

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4 SAFETY MONITORING FUNCTIONS

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. 4-55: Safely-limited position function

This function does not guarantee that the robot arm and tools will not enter the
Caution safeguarded spaces.

(2) Operation sequence

(a) SLP_ function basic operation
Enabling a SLP_ command (SLP1, SLP2, SLP3, or SLPM command) triggers the SLP function.

SLP
SLPmonitoring
監視
SLP
Robot
ロボット位置position monitoring
SLP 監視
area
領域

Enabled
有効
SLP_指令
SLP_ command
Disabled
無効

Enabled
有効
SLP_ monitoring
SLP_監視 Disabled
無効

Fig. 4-56: SLP_ function basic operation

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(b) Description of position monitoring

The enabled SLP monitoring function monitors an arm model and tool models according to predefined
monitoring settings so that the models do not go into the restricted area applied at the time.

(c) Stop position prediction function

This function predicts whether the robot enters safeguarded spaces while it is run by the interpolation
command or jog operation. If it judges that a predicted position will enter a safeguarded space, the function
stops the robot. When the robot stops near the position monitoring plane, it behaves as follows:
① When the robot is run by the interpolation command
The automatic program operation maintains the RUN state. The robot operation suspends and the
execution stops at the line of the interpolation command, but the state does not transition to STOP.
If the target position monitoring plane does not exist in the vicinity due to the monitoring mode change
to disable the target position monitoring plane, the SLP prior stop state is reset and the operation
resumes.
Furthermore, when the automatic operation enters the STOP state due to a stop input or error
occurrence, the SLP prior stop state is also canceled.

･ Changing monitoring modes may resume the robot operation. Take sufficient care when
Caution changing monitoring modes.
･ In the SLP prior stop state, errors are shown for "Monitoring State of the Plane" and
"Monitoring State of the Area" in the [Operation Check] window of RT ToolBox3. (Refer
to Fig. 4-66.)
･ As shown in the following figure, an error may occur when a position passes near the
boundary of the safeguarded space (especially during continuous path operation). If an
error occurs, set the path away from the safeguarded space or lower the speed.

An error may occur near the boundary of the safeguarded space

as the stop position is predicted in a certain cycle.

Safeguarded space
Predicted stop position

Current position

② When the robot is run by the jog operation

A buzzer goes off from the teaching pendant to notify that the position monitoring plane is close, and
the robot stops. If the function detects that any one of the monitoring positions has gone across the
plane, error H220 m (m is a plane number) occurs and the robot stops by turning off the servos. The
position monitoring is performed for the position command and the position feedback. The error
message of error H220m changes according to the detected position.

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4 SAFETY MONITORING FUNCTIONS

SLP
SLP
SLP 監視
monitoring
Robot position
ロボット位置 領域
area
Predicted position
予測位置
Actual position
実際位置

Enabled
有効
SLP_指令
SLP_ command
Disabled
無効

Enabled
有効
SLP_監視
SLP_ monitoring
Disabled
無効

SLP_ｴﾗｰ
SLP_ error Error
エラー
No error
エラー無し

SLP prior stop

SLP事前停止 Enabled
有効
Disabled
無効

Fig. 4-57: Stop position prediction function

The function to stop the movement near the position monitoring plane works for operation
Caution commands concerning the interpolation command or the jog operation. The function does
not work for correction commands of the compliance control, force sense control, or
tracking function.
Therefore, stopping operation commands near the position monitoring plane while these
functions are running may not prevent the robot from reaching the position monitoring
plane due to correction commands, causing an error.

③ When error H220m occurs in the SLP prior stop state

Depending on the monitoring position settings or how the robot is moving, a monitoring position may
enter a safeguarded space in the SLP prior stop state, causing error H220m. Setting a margin
between the predicted stop position and the safeguarded space prevents error H220m from occurring.
Use SPPFMG parameter to set the margin.

Table 4-10: Margin between the predicted stop position and the safeguarded space

Item Description
Parameter name SPPFMG
Function Set a margin between the predicted stop position and the
safeguarded space to prevent error H220m from occurring in the SLP
prior stop state.
What parameter settings Margin (distance) between the predicted stop position and the
means safeguarded space
Setting range 0.00 to 1000.00 (unit: mm)
Default 0.00

When the margin is set using SPPFMG parameter, the robot will stop before entering the safeguarded
space (SLP prior stop) according to the setting value. A monitoring position will not enter the safeguarded
space and thus error H220m will not occur.

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Safeguarded
When the
Initial state space
margin is set

SPPFMG

Fig. 4-58: SLP prior stop when the margin is set

SPPFMG parameter is available with software version of each device shown in the following table.

Table 4-11: Software version that supports SPPFMG parameter

Device Compatible version

Controller Ver. C2 or later
RT ToolBox3/RT ToolBox3 Pro Ver. 1.90U or later
(simulation function)

When a large value (for example, a value larger than the distance between the current
Caution position and the safeguarded space) is set in SPPFMG parameter, the robot will enter
the SLP prior stop state immediately after the robot starts moving and its movement is
restricted. Set SPPFMG parameter appropriately.
Check state variable M_SlpPreStp to see whether the robot is in the SLP prior stop state.

When the simulation function of RT ToolBox3 or RT ToolBox3 Pro is used, setting

Caution SPPFMG parameter to a value larger than the distance between the robot position at the
start of the simulation and the safeguarded space will cause error H220m at startup of
the simulation. In this case, change the SPPFMG parameter setting or the SLP monitoring
settings.

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4 SAFETY MONITORING FUNCTIONS

(d) When intrusion into an SLP restricted area is detected

Intrusion of one of the following items into an SLP restricted area causes error H220* (SLP robot position
error) and SS1 stops the robot.

(i) Position command (Whole arm and tools)

(ii) Position FB (Whole arm and tools)
SLP
SLP STO/SS1
SLP 監視
monitoring
Robot position
ロボット位置 領域
area

Enabled
有効
SLP_指令
SLP_ command
Disabled
無効

有効
Enabled
SLP_監視
SLP_ monitoring
無効
Disabled

SLP_エラー
SLP_ error エラー発生
Error occurred
エラー無し
No error

SS1_指令
SS1_ command 有効
Enabled
無効
Disabled

Fig. 4-59: When intrusion into an SLP restricted area is detected

(e) When the robot is run by the jog operation

A buzzer goes off from the teaching pendant to notify that a safety monitoring plane and safety monitoring
area are close, and the robot stops. If the function detects that any one of the monitoring positions has gone
across the plane, error H220* occurs and the robot stops by turning off the servos.

The function to stop the movement near the position monitoring plane does not work for
Caution the spline interpolation command (MvSpl, EMvSpl commands) or the real-time external
control (Mxt command).

When no errors are found, if the brake release operation allows the robot to go across
Caution the position monitoring plane, error H220m occurs and the brake is applied at the same
time. While an error is occurring, the brake is not applied even if another error occurs
while the brake is released.

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(3) Configuring monitoring conditions

(a) Arm model and tool model
Monitoring targets can be configured as a sphere model or cylinder model fixed to the robot or hand.
Change in an arm model can only be made to the size. For tool models, free configuration of up to four
sphere models is supported. For configuration of robot monitoring positions and hand monitoring positions,
see 4.3 Defining 3D Models.

(b) Safety monitoring plane

SLP monitoring planes for position monitoring can be configured. Definition of up to eight planes is supported.

Fig. 4-60: Safety monitoring plane

① Plane Setting
This enables selecting a monitoring plane to be configured or changed from the pull-down menu. (Plane
1 to Plane 8)

② Plane Monitoring
This sets the plane monitoring to Enable or Disable. Only the planes set to Enable are monitored.

③ Safeguarded Space
This specifies the side of a monitoring plane on which the safeguarded space (that allows no movement)
is placed. To set the safeguarded space on the opposite side of the origin of the robot, select Outside.
To set the safeguarded space on the side of the origin of the robot, select Inside. (See the figure below.)

[Outside setting] Monitored [Inside setting] Monitored

plane plane

Safeguarded Space allowing Space allowing Safeguarded

Space movement movement Space

Fig. 4-61: Safeguarded space setting

Safety Monitoring Functions 4-83

4 SAFETY MONITORING FUNCTIONS

④ Monitoring Position
This enables selecting a monitoring position of the robot subject to position monitoring.
Selecting [Whole Arm and Tool] enables the position monitoring that uses an arm model and tool models
defined in 4.3 Defining 3D Models.
Selecting [Tool Only] enables the position monitoring that only monitors tool models.

⑤ Monitoring Function To Apply the Plane

This enables selecting monitoring functions (SLP1, SLP2, SLP3, SLPM) to which the monitoring plane
is applied. Multiple functions can be selected.

⑥ Plane Definition
As shown in the right figure, configure X, Y, Z
coordinates of the three points (origin, +X axis position,
+Y axis direction) on the defined plane in the base
coordinate system.
The plane is defined in the base coordinate system.
Therefore, the base conversion does not change the Position on
relative position of the robot to the position monitoring +X axis
plane.

<Base coordinate system> +Yaxis

The base coordinate system is a coordinate system direction
based on the robot installation surface. The center of Origin
the robot installation position (base data) in the world
coordinate system can be changed by using parameter
MEXBS or executing the Base command. By default,
the world coordinate system and the base coordinate
system are placed at the same position.
Fig. 4-62: Plane Definition

Base coordinate system

Base data

World coordinate system

Fig. 4-63: Base coordinate system

4-84 Safety Monitoring Functions

 4 SAFETY MONITORING FUNCTIONS

(c) Safety monitoring area

This enables configuring safety monitoring areas. Definition of up to eight areas is supported.

Fig. 4-64: Safety monitoring area

① Area Setting
Definition of up to eight areas is supported. Select a monitoring area (Area 1 to Area 8) to be changed
or edited from the pull-down menu.

② Area Monitoring
This sets the area monitoring to Enable or Disable. Only the areas set to Enable are monitored.

③ Safeguarded Space
This specifies whether the safeguarded area (into which the robot cannot intrude) is inside or outside
the area.

④ Monitoring Position
This enables selecting a monitoring position of the robot subject to position monitoring.

⑤ Monitoring Function To Apply the Area

This enables selecting monitoring functions (SLP1, SLP2, SLP3, SLPM) to which the monitoring area is
applied. Multiple functions can be selected.

⑥ Area Definition
This configures the monitoring area.
As shown in the figure in the rignt, Z
Diagonal point 2
the area is defined as a cuboid
（X2,Y2,Z2）
parallel to a coordinate system Diagonal point 1
formed from two points diagonal to （X1,Y1,Z1）
each other. In the same way as a
plane area, configure the
coordinates of the diagonal points in
the base coordinate system.
The area is defined in the base
Y
coordinate system. Therefore, the
base conversion does not change
the relative position of the robot to X
the position monitoring plane.
Fig. 4-65: Area Definition
Safety Monitoring Functions 4-85
4 SAFETY MONITORING FUNCTIONS

(4) Operation check

Be sure to check that the monitoring conditions for the SLP function are configured correctly. The following
describes how to check that.

① How to check monitoring plane switching

Open the Operation Check screen by selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety
option] -> [SLP] -> [Operation Check]. In this screen, check that the SLP monitoring states (SLP1,
SLP2, SLP3, SLPM) and the states of planes and areas applicable at the time are as intended.

Fig. 4-66: Operation check

② How to check monitoring model definitions

In 3D Monitor, check that the settings for the arm model, tool models, monitoring planes, and monitoring
areas are configured as intended. For details on 3D Monitor, see chapter 4.3.1 .

Fig. 4-67: How to check monitoring model definitions

4-86 Safety Monitoring Functions
 4 SAFETY MONITORING FUNCTIONS

4.6 Safety Diagnosis Function

4.6.1 Test pulse diagnosis (EMG)
This function enables diagnosis of external wiring by pulse signals output from the emergency stop ports
(EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off-
pulses regularly. The width of output pulses is always approximately 20 ms. Checking regularly the test pulses
inside the robot controller enables confirming the correct operation of the emergency stop lines. When an
emergency stop signal triggers the SS1 function, use of this safety diagnosis function satisfies SIL3 and
PLe/Category 4.
When using this function, connect emergency stop switches by seeing Fig. 4-69.
Make sure to prevent test pulses of this function from causing faulty operation of peripheral devices.
Approx. 1000ms
Approx.
40ms

EXTEMG11 Approx.
20ms
EXTEMG21 Approx.
20ms

Fig. 4-68: Test pulse diagnosis

Tab. 4-12: Test pulse diagnosis

Item Description
Parameter name TPOEMG
Function This enables configuring the pulse output function for outputting test pulse
signals from emergency stop ports (EXTEMG11, EXTEMG21).
What parameter settings 0: Outputs no test pulses
means 1: Outputs test pulses
Default 0

Fig. 4-69: How to wire emergency stop lines

Safety Diagnosis Function 4-87

4 SAFETY MONITORING FUNCTIONS

RT ToolBox3 Ver.1.62Q or later supports the safety diagnosis function. The settings can be configured using
the following steps.

4.6.2 Safety diagnosis function

You can select the pulse output function of test pulse signal output from emergency stop (EXTEMG11,
EXTEMG21). For the safety diagnosis function (test pulse diagnosis), please refer to the “Standard
Specifications” of each series.
This function can be used with the CR800 series robot controller and the parameter cannot be set for offline
editing.
Double-click [Safety Parameter] -> [Safety Diagnosis Function] under the [Parameter].

Fig. 4-70: Safety diagnosis function parameter

After changing the parameter value, click the [Write] button to write the parameter to the robot controller.

This parameter requires a password to be written. Enter the correct password and press the [OK], the
parameters will be written to the controller. If the password is wrong, the parameter will not be written.
The password is required only when writing the first parameter after displaying the parameter editing screen of
the safety diagnosis function.
Refer to "4.2.3 Password setting" for further information.

4-88 Safety Diagnosis Function

 5 STATE VARIABLE

5. STATE VARIABLE
States variable for the safety monitoring function are shown below:

5.1 List of State Variables

Tab. 5-1: List of state variables

State variable Overview

M_DSI Refers to the DSI Input state.
M_SｆILogic Refers to the Logic Input state.
M_SｆIArea Refers to the Area Input state.
M_SfSts Refers to the running state of the
safety monitoring.
M_DSO Refers to the DSO output state.
M_SlpPreStp Refers to the SLP pre-stop status

5.2 State Variables

M_DSI
[Function]
Regarding DSI for functional safety, this refers to the current value.
DSI Input enabled: 1
DSI Input disabled: 0
[Format]

Example) <Numerical variable> = M_DSI( <DSI number> )

[Terminology]
<Numerical variable> This specifies where to store the DSI state.
<DSI number> This specifies a number for DSI whose state to be obtained.
Setting range: 1 to 8
[Reference Program]
M1 = M_DSI(1) 'The state of DSI1 is stored in M1.

[Explanation]
(1) Regarding DSI for functional safety, this refers to the current state.
(2) The value changes after the DSI filer setting time elapses following change in the input signals DSIn_A and
DSIn_B.
(3) Assigning a value other than 1 to 8 to <DSI number> causes the L.3880 error on execution.

List of State Variables 5-89

5 STATE VARIABLE

M_SfILogic
[Function]
Regarding functional safety input Logic, this returns the current value. (n = 1 to 3)
Logic Input state Enabled:1
Logic Input state Disabled:0
[Format]

Example) <Numerical variable> = M_SfILogic( <Logic number> )

[Terminology]
<Numerical variable> This specifies where to store the LOGICn input state.
<Logic number> This specifies a number for LOGIC whose state to be obtained.
• Setting range: 1 to 3

[Reference Program]
M1 = M_SfILogic(1) 'The state of LOGIC1 is stored in M1.

[Explanation]
(1) This refers to the state of Logic Input for functional safety.
(2) Assigning a value other than 1 to 3 to <LOGIC number> causes the L.3880 error on execution.

M_SfIArea
[Function]
This refers to the Area Input state.
(Enabled:1, Disabled: 0)
[Format]

Example) <Numerical variable> = M_SfIArea( <Area number> )

[Terminology]
<Numerical variable> This specifies where to store the AREAn input state.
<Area number> This specifies a number for Area whose state to be obtained.
• Setting range: 1 to 3
[Reference Program]
M1 = M_SfIArea(1) 'The value of Area1 is stored in M1.

[Explanation]
(1) This refers to the Area Input state.
(2) Assigning a value other than 1 to 3 to <Area number> causes the L.3880 error on execution.

5-90 State Variables

 5 STATE VARIABLE

M_SfSts
[Function]
This refers to the running state of the safety monitoring functions.
(1: Enabled, 0: Disabled)
[Format]
Example) <Numerical variable> = M_SfSts( <Function number> )

[Terminology]
<Numerical variable> This refers to the running state of a safety monitoring function corresponding to the
function number.
<Function number> This specifies a number for a function whose running state is to be obtained. (Setting
range: 1 to 12)
Tab. 5-2: List of function number

Function Function
number
1 STO
2 SOS
3 SS1
4 SS2
5 SLS1
6 SLS2
7 SLS3
8 SLSM
9 SLP1
10 SLP2
11 SLP3
12 SLPM

[Reference Program]
Msto = M_SfSts(1) ‘The running state of STO is stored in Msto. (0: Disabled, 1: Enabled)
Msls = M_SfSts(5) ‘The running state of SLS1 is stored in Msls. (0: Disabled, 1: Enabled)
If Msls = 1 then
M_YDev(0) = 1 'If SLS1 is enabled, sequencer output signal No.1 is turned on.
EndIf

[Explanation]
(1) This variable refers to the current running state of a specified safety monitoring function.

State Variables 5-91

5 STATE VARIABLE

M_DSO
[Function]
Regarding DSO for functional safety, this refers to the current value.
DSO Output enabled: 1
DSO Output disabled: 0
[Format]
Example) <Numerical variable> = M_DSO( <DSO number> )

[Terminology]
<Numerical variable> This specifies where to store the DSO state.
<DSO number> This specifies a number for DSO whose state to be obtained.
Setting range: 1 to 4
[Reference Program]
M1 = M_DSO(1) 'The state of DSO1 is stored in M1.

[Explanation]
(1) Regarding DSO for functional safety, this refers to the current state.
(2) Assigning a value other than 1 to 4 to <DSO number> causes the L.3880 error on execution.

5-92 State Variables

 5 STATE VARIABLE

M_SlpPreStp
[Function]
The variable returns the present SLP pre-stop status.

[Format]
Example) <Numerical variables>=M_SlpPreStp

[Terminology]
<Numerical variable>The current SLP pre-stop status is returned.
Not in pre-stop status: 0
During pre-stop:
1 to 8 (number of the applicable position monitoring plane)
101 to 108 (100 + number of the applicable position monitoring area)

[Reference Program]
M_Outb(100) = M_SlpPreStp 'The variable outputs the present SLP pre-stop status from the output signal
100 using 8-bit data.

[Explanation]
(1) The variable returns the present SLP pre-stop status.
(2) While the robot is stopped in the SLP pre-stop status, the number (1 to 8) of the applicable position monitoring
plane or the number (101 to 108) of the applicable position monitoring area +100 is returned. Otherwise, 0 is
returned.
(3) When the robot is stopped by multiple planes and areas, the smallest number is returned.
(4) When the position monitoring (SLP function) is disabled, 0 is always returned.
(5) The variable is read-only.

State Variables 5-93

6 TROUBLESHOOTING

6. TROUBLESHOOTING
6.1 Error List for the Safety Monitoring Functions
Errors related to the safety monitoring functions are listed below.
For details about the errors not listed, refer to "Instruction manual/ Troubleshooting" coming with the robot. (Errors
whose error number is suffixed with * requires resetting the power supply.)
Tab. 6-1 Error list for the safety monitoring functions

Error number Error causes and solutions

Error message Safety parameter error (xxxxx)
Cause Detect errors in safety parameter value.
H0230 * There is something wrong with a safety function parameter setting. Check the
Solution parameter setting shown in (xxxxx) of the error message, and set it to an
appropriate value.
Error message Parameter CRC error (xxxxx)
H0231 * Cause Detect CRC errors in safety parameter.
Solution Please check the safety parameters settings and write parameters.
Error message Setting mismatch of safety func
Cause The safety function is disabled.
C0240
Although the safety logic is configured, the relevant safety functions are disabled.
Solution
Delete the safety logic or enable the safety functions.
Error message Fault in Safety Communication
Cause Detect a fault in safety communication.
Turn the power OFF and ON once.
H0241 * If the error recurs after that, contact the manufacturer.
Solution This error also occurs when the machine lock function and controller CPU drive
mode are used. Disable the function/mode, then cycle the power of the robot
controller.
Error message Fault in Safety Data
Cause Detect a fault in safety data.
H0242 *
Turn the power OFF and ON once.
Solution
If the error recurs after that, contact the manufacturer.
Error message Safety function unavailable (XXX)
H0243 Cause The Safety Function is not supported by this robot.
Solution Disable the safety function.
Error message Setting mismatch of safety IO
C0244 Cause Safety IO logic is set, but the safety IO is disabled.
Solution Delete the safety IO logic settings or enable safety IO.
Error message Illegal setting of safety IO I/F
H0250 * Cause Safety IO and Safety comm. are disabled.
Solution To enable the safety function, enable either safety IO or safety communications.
Error message Illigal setting of safety IO I/F
Both safety IO and safety communication are set to valid. Safety IO and safety
H0251 * Cause
communication cannot be used together.
Solution Disable either safety IO or safety communications.
Error message RemoteI/O unit config error
Cause The multiple RemoteI/O units which do not support are connected.
H0311 *
If a safety extension unit is connected, turn off the robot and, after restarting the
Solution
safety extension unit, turn on the robot again.
Error message SLP (ROBOT position error:CMD Plane)
Cause SLP detected the robot position CMD over the monitoring plane.
Solution Please confirm the robot movement or related parameter setting.
H220m Error message SLP (ROBOT position error:FB Plane)
(The letter "m" is Cause SLP detected the robot position FB over the monitoring plane.
a number for a Solution Please confirm the robot movement or related parameter setting.
monitoring plane Error message SLP (ROBOT position error:CMD Area)
or monitoring Cause SLP detected the robot position CMD over the monitoring area.
area [1 to 8]) Solution Please confirm the robot movement or related parameter setting.
Error message SLP (ROBOT position error:FB Area)
Cause SLP detected the robot position FB over the monitoring area.
Solution Please confirm the robot movement or related parameter setting.

6-94 Error List for the Safety Monitoring Functions

 6 TROUBLESHOOTING

Error number Error causes and solutions

Error message Mismatch of Dual Safety Input
Cause State of the redundant wiring do not match (Dual Safty Input)
The duplex DSI signal ON/OFF states are not consistent. Check the following for
H222m *
the DSI.
(The letter "m" is
• DSI wiring
a DSI number.
Solution • Duplex signal ON/OFF states
[1 to 8])
• Timing of switching of ON/OFF states
(The error occurs when the ON/OFF states of the duplex signals remain
inconsistent for about 0.1 seconds.)
Error message Mismatch of Dual Safety Output
Cause The duplex DSO states are not consistent.
H2230 *
Turn the power OFF and ON once.
Solution
If the error recurs after that, contact the manufacturer.
Error message Mismatch of Dual Safety Output Feedback
Cause State of Dual Safty Output and the feedback do not match.
H2231 *
Turn the power OFF and ON once.
Solution
If the error recurs after that, contact the manufacturer.
Error message Origin data change
Cause The origin data is changed during execution of the position monitoring function.
H2240 * The origin is set while position monitoring is being executed. This error occurs if the
Solution origin position data is changed while position monitoring is being executed. Cycle
the power of the robot controller, then reset the error.
Error message Safety function execution disabled (No origin setting)
Cause The safety function cannot be executed because the origin is not set.
C2250
If the origin is not set, the safety monitoring functions will not work. Configure the
Solution
origin settings.
Error message Safety Unit communication error
Cause Extended Safety Unit communication failed
In order to use the safety monitoring functions, the Safety extension unit must be
connected to the robot controller. Connect the Safety extension unit to the robot
H2260 * controller.
Solution If the error occurs even when the Safety extension unit is connected, check that the
Safety extension unit is powered on. Or check whether pseudo-input mode has
been enabled. If none of these solutions rectify the problem, the Safety extension
unit may be faulty. Contact Mitsubishi Electric.
Error message Extended safety unit's No. error
H2261 * Cause The extended safety unit’s station No. is illegal.
Solution Set the extended safety unit’s station No. to 2.
Error message Cannot servo ON (SS1/STO active)
H2270 Cause The servo cannot be turned ON while SS1/STO is active.
Solution Disable SS1 before turning the servo ON.
Error message SS1 deceleration time exceeded
Cause The robot didn't stop within deceleration time from SS1 enabled.
H2280 *
Check operation instructions, terminal load, and stop speed (SFSPZERO)
Solution
parameter of the robot.
Error message SS2 deceleration time exceeded
Cause The robot didn't stop within deceleration time from SS2 enabled.
H2281 *
Check operation instructions, terminal load, and stop speed (SFSPZERO)
Solution
parameter of the robot.
Error message SOS (Position error)
Cause Detect the change of position FB on SOS.
During the SOS monitoring, change in the position FB due to external force was
Solution detected. Remove the external force factor or assess risks and adjust parameter
SOSTLRNC to extend the allowable range of the SOS monitoring.
Error message SOS (Speed error)
Cause Detect FB speed over on SOS.
H2282
Solution Please check external force or related parameter settings.
Error message SOS (Position command error)
Cause Detect the change of position CMD on SOS.
Solution Please confirm the robot movement or related parameter setting.
Error message SOS (Speed command error)
Cause Detect CMD speed over on SOS.
Solution Please confirm the robot movement or related parameter setting.
Error message SLS (Joint Speed Error)
H230n Cause Speed monitor detected the speed over.
(The letter "n" is The speed monitoring function detected a speed exceeding the predetermined
an axis number. speed.
Solution
[1 to 8]) Check the robot movement or the monitoring speed setting.
Also, check that the deceleration delay (parameter SLSDLY) is not too short.

Error List for the Safety Monitoring Functions 6-95

6 TROUBLESHOOTING

Error number Error causes and solutions

Error message SLS (XYZ Speed Error)
Cause Speed monitor detected the speed over.
The speed monitoring function detected a speed exceeding the predetermined
speed.
Check the following.
1) Robot movement and monitoring speed setting
2) Deceleration monitoring period (if it is too short)
(A deceleration monitoring period is the waiting time from when the SLS
command is enabled until when monitoring starts.)
3) Execution line (if it is the Tool command or M_Tool variable) of the program in
the error state
For further information on 1) and 2), refer to "4.5.5 Safely-limited speed function
H231n (SLS)".
(n shows the Since 3) occurs when the Tool command or M_Tool variable is executed before the
direction where a robot's movement is completed (the feedback speed becomes zero), take one of
problem is the following countermeasures. For further information, refer to the "Instruction
detected.) Manual/Detailed explanations of functions and operations".
1: Synthesized • Create position data including tool conversion data using relative operations
Solution
speed without using the Tool command or M_Tool variable.
2: X+, 3: X- Program examples
4: Y+, 5: Y-
Before After
6: Z+, 7: Z-
Mov P1 Mov P1
Tool Ptool1
Mov P2 Mov P2 * Inv(Ptool1) * P_tool
• Add the Dly command before the Tool command or M_Tool variable.
Alternatively, specify a positioning completion condition for the immediately
preceding operation command using a Fine command so that the Tool command
or M_Tool variable will be executed after the robot's movement is completed (the
feedback speed becomes zero).
• Decrease the movement speed so that the Tool command or M_Tool variable will
be executed after the robot's movement is completed (the feedback speed
becomes zero).

Error message SF robot control error

Cause The robot motion command and the feedback are inconsistent.
H2320 The robot's position command and feedback position do not match. Check the
Solution movement of the robot, the load on the hand, and whether the robot is interfering
with any peripheral devices.
Error message SF (Process error)
Cause The Safety Function is not normally executed.
Reset the error by power-cycling the robot. If the same error recurs, contact the
Solution
manufacturer.
H2370 *
Error message SF (Process Counter error)
Cause The Safety Function of servo CPU is not normally executed.
Reset the error by power-cycling the robot. If the same error recurs, contact the
Solution
manufacturer.

6-96 Error List for the Safety Monitoring Functions

 6 TROUBLESHOOTING

6.2 Errors Whose Specification Is Changed by Safety Monitoring

Functions
The specification of the following errors changes when the safety monitoring function is enabled.

(1) To reset the following errors while the safety monitoring function is enabled, reset the power supply.

Tab. 6-2 Errors whose specification is changed by safety monitoring functions

Error number Error message

H0039 Faulty wiring (Door Switch)
H0046 Faulty wiring (Mode sel. switch)
H0049 Faulty Line (T/B Enable Switch)
H0051 Faulty wiring (External EMG)
H0059 Faulty wiring (Enabling Device)
H0061 Faulty line (O/P EMG)
H0071 Faulty line (T/B EMG)
H0074 Faulty line (T/B Enable/Disable)
H1680 Cannot servo ON (timeout)
H1681 Unexpected servo OFF
H1682 Servo ON Timeout(Safety relay)
H1683 Servo ON Timeout.(Contactor)

Errors Whose Specification Is Changed by Safety Monitoring Functions 6-97

7 SAFE STOPPING DISTANCE

7. SAFE STOPPING DISTANCE

The concept of the maximum stopping distance of the robot is described below.

7.1 How to Calculate a Stopping Distance

Assuming that the power supply to the robot controller is shut off during operation or that an error triggers the SS1
function, the maximum stopping distance in the worst scenario can be approximated by the following formula.
(Assume that the robot has brakes on all the axes.)
d max = (Vmax × Tres ) + (0.5 × Vmax × Tmax × α )

dmax : Maximum stopping distance

Vmax : Maximum speed (Equivalent to the SLS monitoring speed when the SLS function is enabled)
Tres : Reaction time (time from error detection to stop) (Approximately 7.1 msec)
Tmax : Maximum stopping time (Differs from robot to robot, see chapter 7.2 )
α : Safety factor (1 or more)

The stopping time is affected by how the robot system is configured, the condition of the
Caution robot, and its posture. Therefore, the stopping distance calculated from this formula is
approximate. Use measurements from the system you are using to acquire an accurate
stopping distance.
Depending on the posture of the robot, the arm may droop if the axis does not have a
brake. The amount of droop is not considered in the calculation of the stopping distance
described in this section.
position monitoring plane position monitoring plane

Safety sphere

Vmax

TCP movement

Safety sphere
dmax

Deceleration start Robot stop

<Maximum speed>
When the safely-limited speed function (SLS) is enabled, detection of a speed exceeding the SLS monitoring
speed causes the SS1 function to immediately stops the robot. Therefore, the SLS monitoring speed can be
considered equivalent to the maximum speed. Thus, reducing the SLS monitoring speed enables shortening the
maximum stopping distance when power supply shut-off or an internal error shuts off the driving energy.
When Advanced Mode of the SLS function is configured, each of the X, Y, Z components are monitored for their
speed, which enables restricting the maximum stopping distances for each of the X, Y, Z components. For
example, if there is a safeguarded space in +X direction and the other directions are covered with safety fences,
reducing the SLS speed only in +X direction enables ensuring safety and minimizing impact on tact time.

<Reaction time>
The delay between when an error detection enables the SS1 command and when deceleration starts is
approximately 7.1 ms.
Using the DSI input of the Safety extension unit to stop the robot will have an effect on the DSI filter time
specified in the DSI filter settings. For further information, refer to "(c) DSI filter configuration".
The initial value is 10 ms, therefore there will be a delay of 10 ms until the DSI input is enabled for the input
signal.
If an error occurs in the reading of the DSI input, there may be a delay of up to 72 ms before the signal is read.
7-98 How to Calculate a Stopping Distance
 7 SAFE STOPPING DISTANCE

<Maximum stopping time>

The maximum stopping time Stopping time [s] Stopping distance [deg]
differs from robot to robot. Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
(see chapter 7.2 ) J1 L=100% M=100% 0.29 58.80
(Example) In case of the table J2 L=100% M=100% 0.26 42.48
on the right, the maximum
J3 L=100% M=100% 0.24 28.80
stopping time is the stopping
J4 - M=100% 0.20 49.80
time of J1 or 0.29 seconds,
J5 - M=100% 0.23 61.56
which results in the maximum
J6 - Load 1 0.14 66.48
stopping time of the robot
being 0.29 seconds.

7.2 Maximum Stopping Time and Maximum Operating Angle

The maximum stopping time and maximum operating angle indicate the time elapsed from when the SS1 function
starts to when the robot stops. With low movement speed, which makes deceleration time short, operation will
require a shorter elapsed time and smaller operating angle than those shown here. Improper use of the robot can
result in a longer maximum elapsed time and a higher maximum movement speed than the values shown here.

(1) What symbols mean

The following shows meanings of symbols used in this chapter.
String Unit Description Description
L mm Degree of arm This is the degree of extension of the arm in relation to each
extension rotation axis. For details, see page 7-100.
M % Load ratio This is the ratio of a load on the robot to the maximum load. Take
for an example a robot with a maximum load of 4 kg. If M = 66%,
the load on the robot is 2.64 kg.
OVRD % Robot override This is an override for the robot speed.
t s Stopping time This is the maximum duration that elapses from when the SS1
(second) function starts to when the motor power supply is shut off.
deg °(degree) Stopping angle This is the maximum angle that the robot moves from when the
SS1 function starts to when the robot stops.
d mm Stopping This is the maximum distance that the robot moves from when
distance the SS1 function starts to when the robot stops.
This is applicable to the J3 axes of RH-FRH and RH-CRH series
robots.

Maximum Stopping Time and Maximum Operating Angle 7-99

7 SAFE STOPPING DISTANCE

(2) The degree of extension of the robot arm

(a) RV-FR/RV-CR series

Axis L=100% L=66% L=33%

J1

J3 axis
J2 axis

J1 axis

L=100%

L=66%
L=33%

J2

J2 axis J3 axis

J1 axis

L=100%

L=66%
L=33%

J3

J3 axis

J2 axis

J1 axis

L=100%

Note) The robot in the figure is RV-4FR.

7-100 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

(b) RH-FRH/RH-CRH series

Axis L=100% L=66% L=33%

J1

J3 axis
J2 axis
J1 axis

L=100%

L=66%
L=33%

J2

J3 axis
J2 axis
J1 axis

L=100%

Note) The robot in the figure is RH-6FRH.

Maximum Stopping Time and Maximum Operating Angle 7-101

7 SAFE STOPPING DISTANCE

(3) Load dimension for J6 axis in RV series/J4 axis in RH series

Axis of rotation
L1

Robot Flange

L2 Center H

Load D
(M kg) W

Robot model Load type Mass kg Size mm Distance mm

M W D H L1 L2
RV-2FRB Load 1 2 70 70 50 100 45
RV-2FRLB Load 1 2 70 70 50 100 45
RV-4FR Load 1 4 78 78 90 100 95
RV-4FRL Load 1 4 78 78 90 100 95
RV-4FRJL Load 1 4 78 78 90 100 95
RV-7FR Load 1 7 95 95 95 100 170
RV-7FRL Load 1 7 95 95 95 100 170
RV-7FRLL Load 1 7 95 95 95 100 170
RV-13FR Load 1 12 120 120 105 96 124
RV-13FRL Load 1 12 120 120 105 96 124
RV-20FR Load 1 15 160 160 78 73 189
RV-35FR Load 1 35 797 797 915 336 387
RV-50FR Load 1 50 684 684 784 375 405
RV-80FR Load 1 80 450 450 530 373 335
RV-8CRL Load 1 7 95 95 95 100 165
RV-12CRL Load 1 12 330 260 115 95 131
RH-3FRH Load 1 1 72 72 42 71 13
Load 2 3 82 82 61 142 22
RH-6FRH Load 1 3 82 82 61 60 23
Load 2 6 104 104 74 140 29
RH-12FRH Load 1 3 125 80 33 108 19
Load 2 12 165 165 54 158 29
RH-20FRH Load 1 5 125 125 34 133 19
Load 2 20 165 165 91 233 52
RH-3FRHR Load 1 1 180 60 9 50 -5
Load 2 3 82 82 61 77 37
RH-1FRHR Load 1 1 72 72 42 71 13
RH-3CRH Load 1 1 85 85 52 58 12
Load 2 3 115 115 58 131 23
RH-6CRH Load 1 2 93 93 52 54 13
Load 2 6 138 138 45 133 36

7-102 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-2FRB
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.48 0.60 0.72 25.00 61.75 111.93
M=66% 0.46 0.58 0.70 24.14 60.05 109.35
L=100%
M=33% 0.43 0.55 0.67 22.49 56.75 104.35
M=0% 0.39 0.51 0.63 20.65 53.07 98.77
M=100% 0.38 0.50 0.63 20.23 52.22 97.49
M=66% 0.38 0.49 0.62 19.77 51.31 96.10
J1 L=66%
M=33% 0.35 0.47 0.59 18.63 49.02 92.63
M=0% 0.33 0.45 0.57 17.35 46.46 88.75
M=100% 0.38 0.49 0.62 19.78 51.33 96.13
M=66% 0.36 0.47 0.60 18.78 49.32 93.09
L=33%
M=33% 0.32 0.44 0.57 17.24 46.24 88.41
M=0% 0.31 0.43 0.55 16.37 44.51 85.80
M=100% 0.53 0.65 0.78 13.82 33.52 59.96
M=66% 0.51 0.63 0.75 13.14 32.16 57.91
L=100%
M=33% 0.48 0.59 0.72 12.38 30.63 55.59
M=0% 0.44 0.56 0.68 11.52 28.93 53.01
M=100% 0.44 0.56 0.68 11.44 28.75 52.74
M=66% 0.42 0.54 0.66 10.95 27.79 51.29
J2 L=66%
M=33% 0.40 0.52 0.64 10.44 26.77 49.74
M=0% 0.37 0.49 0.62 9.87 25.62 48.00
M=100% 0.43 0.55 0.67 11.21 28.30 52.06
M=66% 0.40 0.52 0.64 10.46 26.80 49.78
L=33%
M=33% 0.37 0.49 0.61 9.75 25.37 47.63
M=0% 0.36 0.47 0.60 9.38 24.65 46.52
M=100% 0.42 0.54 0.66 22.16 56.09 103.35
M=66% 0.40 0.52 0.64 20.86 53.49 99.40
J3 -
M=33% 0.37 0.49 0.61 19.37 50.50 94.88
M=0% 0.33 0.45 0.57 17.65 47.05 89.65
M=100% 0.39 0.51 0.63 30.81 79.27 147.64
M=66% 0.37 0.49 0.61 29.53 76.71 143.77
J4 -
M=33% 0.35 0.47 0.60 28.06 73.76 139.29
M=0% 0.33 0.45 0.57 26.43 70.51 134.37
M=100% 0.39 0.51 0.63 30.81 79.27 147.64
M=66% 0.37 0.49 0.61 29.53 76.71 143.77
J5 -
M=33% 0.35 0.47 0.60 28.06 73.76 139.29
M=0% 0.33 0.45 0.57 26.43 70.51 134.37
J6 - Load 1 0.39 0.51 0.63 49.30 126.83 236.23

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 1.41 108.08
J2 L=100% M=100% 0.38 24.78
J3 L=100% M=100% 0.45 49.42
J4 - M=100% 0.40 100.38
J5 - M=100% 0.38 104.16
J6 - Load 1 0.52 215.32

Maximum Stopping Time and Maximum Operating Angle 7-103

7 SAFE STOPPING DISTANCE

RV-2FRLB
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.77 0.85 0.93 27.50 60.48 100.20
M=66% 0.72 0.80 0.88 25.84 57.17 95.20
L=100%
M=33% 0.67 0.75 0.83 24.16 53.82 90.11
M=0% 0.62 0.70 0.78 22.31 50.12 84.50
M=100% 0.60 0.68 0.77 21.78 49.04 82.87
M=66% 0.57 0.65 0.73 20.62 46.73 79.37
J1 L=66%
M=33% 0.54 0.62 0.70 19.46 44.41 75.85
M=0% 0.50 0.58 0.66 18.17 41.84 71.96
M=100% 0.51 0.59 0.67 18.47 42.42 72.84
M=66% 0.47 0.55 0.63 17.24 39.97 69.13
L=33%
M=33% 0.44 0.52 0.60 15.97 37.43 65.28
M=0% 0.40 0.48 0.56 14.78 35.04 61.66
M=100% 0.80 0.88 0.97 14.35 31.45 51.94
M=66% 0.76 0.84 0.93 13.66 30.06 49.82
L=100%
M=33% 0.72 0.80 0.88 12.92 28.59 47.61
M=0% 0.68 0.76 0.84 12.12 26.99 45.18
M=100% 0.64 0.72 0.80 11.50 25.74 43.28
M=66% 0.61 0.69 0.77 11.04 24.83 41.91
J2 L=66%
M=33% 0.59 0.67 0.75 10.57 23.89 40.48
M=0% 0.56 0.64 0.72 10.06 22.85 38.91
M=100% 0.54 0.62 0.70 9.84 22.43 38.26
M=66% 0.52 0.60 0.68 9.36 21.45 36.79
L=33%
M=33% 0.49 0.56 0.65 8.83 20.40 35.19
M=0% 0.46 0.54 0.62 8.36 19.46 33.76
M=100% 0.76 0.84 0.92 21.22 46.96 78.20
M=66% 0.72 0.80 0.89 20.16 44.85 75.00
J3 -
M=33% 0.68 0.76 0.84 19.05 42.61 71.62
M=0% 0.63 0.71 0.80 17.80 40.13 67.85
M=100% 0.53 0.61 0.69 37.83 86.44 147.79
M=66% 0.50 0.58 0.66 35.79 82.37 141.63
J4 -
M=33% 0.47 0.55 0.63 33.67 78.13 135.20
M=0% 0.44 0.52 0.60 31.37 73.52 128.23
M=100% 0.56 0.64 0.72 43.05 97.87 166.65
M=66% 0.50 0.58 0.66 39.05 89.86 154.51
J5 -
M=33% 0.47 0.55 0.63 36.73 85.23 147.50
M=0% 0.44 0.52 0.60 34.22 80.21 139.88
J6 - Load 1 0.53 0.61 0.69 66.03 150.87 257.97

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 1.41 108.08
J2 L=100% M=100% 0.38 24.78
J3 L=100% M=100% 0.45 49.42
J4 - M=100% 0.40 100.38
J5 - M=100% 0.38 104.16
J6 - Load 1 0.52 215.32

7-104 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-4FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.48 0.56 0.64 37.27 86.30 149.12
M=66% 0.45 0.53 0.61 35.26 82.29 143.04
L=100%
M=33% 0.42 0.50 0.58 33.17 78.11 136.70
M=0% 0.39 0.47 0.55 30.91 73.58 129.84
M=100% 0.39 0.47 0.55 30.45 72.66 128.46
M=66% 0.37 0.45 0.53 29.12 69.99 124.41
J1 L=66%
M=33% 0.35 0.43 0.51 27.73 67.23 120.22
M=0% 0.33 0.41 0.49 26.24 64.25 115.71
M=100% 0.36 0.44 0.52 28.64 69.04 122.97
M=66% 0.33 0.41 0.49 26.57 64.90 116.70
L=33%
M=33% 0.30 0.38 0.46 24.30 60.37 109.83
M=0% 0.27 0.35 0.43 22.11 55.99 103.19
M=100% 0.46 0.54 0.62 35.57 82.72 143.41
M=66% 0.43 0.51 0.59 33.88 79.50 138.76
L=100%
M=33% 0.41 0.48 0.57 31.85 75.42 132.58
M=0% 0.38 0.45 0.54 29.63 70.98 125.86
M=100% 0.37 0.45 0.53 29.02 69.78 124.03
M=66% 0.35 0.43 0.51 27.74 67.22 120.16
J2 L=66%
M=33% 0.33 0.41 0.49 26.41 64.56 116.12
M=0% 0.31 0.39 0.47 24.97 61.67 111.75
M=100% 0.34 0.42 0.50 27.21 66.16 118.55
M=66% 0.32 0.39 0.48 25.20 62.13 112.45
L=33%
M=33% 0.29 0.37 0.45 22.99 57.71 105.74
M=0% 0.26 0.34 0.42 20.84 53.42 99.25
M=100% 0.43 0.51 0.59 22.34 52.51 91.77
M=66% 0.40 0.48 0.56 21.07 49.97 87.93
J3 -
M=33% 0.38 0.45 0.54 19.73 47.29 83.87
M=0% 0.35 0.42 0.51 18.26 44.34 79.39
M=100% 0.38 0.46 0.54 36.26 86.64 153.30
M=66% 0.36 0.44 0.52 34.31 82.74 147.39
J4 -
M=33% 0.34 0.42 0.50 32.45 79.02 141.76
M=0% 0.32 0.40 0.48 30.47 75.04 135.74
M=100% 0.38 0.46 0.55 41.98 100.25 177.31
M=66% 0.36 0.44 0.52 39.69 95.65 170.35
J5 -
M=33% 0.34 0.42 0.50 37.44 91.17 163.55
M=0% 0.32 0.40 0.48 35.15 86.58 156.60
J6 - Load 1 0.38 0.46 0.54 48.07 114.95 203.55

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.33 68.60
J2 L=100% M=100% 0.30 49.56
J3 L=100% M=100% 0.27 33.60
J4 - M=100% 0.24 58.10
J5 - M=100% 0.26 71.82
J6 - Load 1 0.17 77.56

Maximum Stopping Time and Maximum Operating Angle 7-105

7 SAFE STOPPING DISTANCE

RV-4FRL
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.49 0.57 0.65 35.50 81.98 141.34
M=66% 0.46 0.54 0.62 33.74 78.45 135.99
L=100%
M=33% 0.44 0.52 0.60 31.91 74.80 130.47
M=0% 0.41 0.49 0.57 29.96 70.89 124.54
M=100% 0.39 0.47 0.55 28.87 68.72 121.25
M=66% 0.38 0.45 0.54 27.67 66.32 117.61
J1 L=66%
M=33% 0.36 0.44 0.52 26.43 63.84 113.85
M=0% 0.34 0.42 0.50 25.11 61.19 109.85
M=100% 0.36 0.44 0.52 26.79 64.55 114.93
M=66% 0.34 0.42 0.50 24.97 60.90 109.41
L=33%
M=33% 0.31 0.39 0.47 23.00 56.97 103.45
M=0% 0.28 0.36 0.44 21.22 53.42 98.07
M=100% 0.47 0.55 0.63 27.28 63.30 109.56
M=66% 0.44 0.52 0.60 25.91 60.57 105.42
L=100%
M=33% 0.42 0.50 0.58 24.50 57.74 101.14
M=0% 0.39 0.47 0.55 22.98 54.69 96.52
M=100% 0.37 0.45 0.53 21.99 52.72 93.52
M=66% 0.36 0.44 0.52 21.07 50.88 90.74
J2 L=66%
M=33% 0.34 0.42 0.50 20.12 48.99 87.87
M=0% 0.32 0.40 0.48 19.10 46.95 84.79
M=100% 0.34 0.42 0.50 20.35 49.46 88.62
M=66% 0.32 0.40 0.48 18.93 46.63 84.33
L=33%
M=33% 0.29 0.37 0.45 17.40 43.57 79.69
M=0% 0.27 0.34 0.43 16.02 40.81 75.51
M=100% 0.44 0.51 0.60 18.95 44.44 77.53
M=66% 0.41 0.49 0.57 17.95 42.44 74.51
J3 -
M=33% 0.39 0.47 0.55 16.92 40.36 71.36
M=0% 0.34 0.42 0.50 14.95 36.44 65.41
M=100% 0.40 0.48 0.56 37.77 89.65 157.87
M=66% 0.38 0.46 0.54 35.93 85.97 152.29
J4 -
M=33% 0.36 0.44 0.52 34.14 82.39 146.87
M=0% 0.34 0.42 0.50 32.30 78.71 141.30
M=100% 0.40 0.48 0.56 43.67 103.63 182.43
M=66% 0.38 0.46 0.54 41.49 99.27 175.83
J5 -
M=33% 0.36 0.44 0.52 39.39 95.06 169.45
M=0% 0.34 0.42 0.50 37.26 90.81 163.01
J6 - Load 1 0.40 0.48 0.56 50.02 118.86 209.47

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.33 68.60
J2 L=100% M=100% 0.30 49.56
J3 L=100% M=100% 0.27 33.60
J4 - M=100% 0.24 58.10
J5 - M=100% 0.26 71.82
J6 - Load 1 0.17 77.56

7-106 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-7FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.48 0.56 0.64 29.84 69.09 119.36
M=66% 0.45 0.53 0.61 28.31 66.03 114.74
L=100%
M=33% 0.43 0.50 0.59 26.70 62.81 109.86
M=0% 0.40 0.47 0.56 24.93 59.27 104.49
M=100% 0.40 0.48 0.56 25.21 59.82 105.33
M=66% 0.38 0.46 0.54 23.86 57.13 101.25
J1 L=66%
M=33% 0.36 0.44 0.52 22.87 55.14 98.23
M=0% 0.34 0.42 0.50 21.78 52.98 94.95
M=100% 0.40 0.48 0.56 25.21 59.82 105.33
M=66% 0.36 0.44 0.53 23.09 55.59 98.92
L=33%
M=33% 0.33 0.41 0.49 21.24 51.90 93.32
M=0% 0.31 0.39 0.47 19.60 48.61 88.35
M=100% 0.39 0.45 0.52 22.25 51.45 88.81
M=66% 0.37 0.45 0.52 24.21 57.35 100.82
L=100%
M=33% 0.35 0.43 0.51 24.87 60.20 107.54
M=0% 0.32 0.40 0.48 22.98 56.43 101.85
M=100% 0.32 0.40 0.47 21.52 52.35 93.87
M=66% 0.30 0.38 0.46 21.65 53.76 97.78
J2 L=66%
M=33% 0.29 0.37 0.45 20.60 51.66 94.60
M=0% 0.27 0.35 0.43 19.48 49.42 91.23
M=100% 0.32 0.40 0.48 22.85 55.98 100.86
M=66% 0.29 0.37 0.45 20.80 52.05 95.19
L=33%
M=33% 0.26 0.34 0.42 18.80 48.05 89.13
M=0% 0.23 0.31 0.39 17.05 44.57 83.88
M=100% 0.48 0.55 0.62 30.96 69.82 118.12
M=66% 0.47 0.55 0.63 36.09 83.44 144.00
J3 -
M=33% 0.45 0.53 0.61 35.07 81.89 142.42
M=0% 0.42 0.50 0.58 32.89 77.54 135.83
M=100% 0.35 0.43 0.51 20.86 50.52 90.29
M=66% 0.33 0.41 0.49 19.66 48.14 86.68
J4 -
M=33% 0.31 0.39 0.47 18.49 45.78 83.12
M=0% 0.29 0.37 0.45 17.27 43.36 79.44
M=100% 0.35 0.43 0.51 28.08 67.91 121.26
M=66% 0.33 0.41 0.49 26.42 64.60 116.24
J5 -
M=33% 0.31 0.39 0.47 24.69 61.13 110.99
M=0% 0.29 0.37 0.45 23.07 57.89 106.08
J6 - Load 1 0.35 0.43 0.51 44.09 107.00 191.49

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.36 48.58
J2 L=100% M=100% 0.54 62.30
J3 L=100% M=100% 0.38 57.40
J4 - M=100% 0.29 38.92
J5 - M=100% 0.40 27.30
J6 - Load 1 0.18 36.12

Maximum Stopping Time and Maximum Operating Angle 7-107

7 SAFE STOPPING DISTANCE

RV-7FRL
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.45 0.53 0.61 22.34 52.20 90.84
M=66% 0.42 0.50 0.58 21.21 49.95 87.43
L=100%
M=33% 0.40 0.48 0.56 20.04 47.60 83.88
M=0% 0.37 0.45 0.53 18.77 45.06 80.03
M=100% 0.36 0.44 0.52 18.06 43.65 77.89
M=66% 0.34 0.42 0.50 17.36 42.24 75.75
J1 L=66%
M=33% 0.33 0.41 0.49 16.63 40.79 73.55
M=0% 0.31 0.39 0.47 15.85 39.23 71.19
M=100% 0.35 0.43 0.51 17.83 43.18 77.17
M=66% 0.33 0.41 0.49 16.63 40.78 73.54
L=33%
M=33% 0.30 0.38 0.46 15.34 38.20 69.63
M=0% 0.28 0.36 0.44 14.29 36.11 66.47
M=100% 0.43 0.51 0.59 24.00 56.32 98.32
M=66% 0.41 0.49 0.57 22.81 53.93 94.69
L=100%
M=33% 0.38 0.46 0.54 21.56 51.43 90.91
M=0% 0.36 0.44 0.52 20.20 48.73 86.81
M=100% 0.34 0.42 0.50 19.26 46.84 83.95
M=66% 0.33 0.41 0.49 18.53 45.38 81.74
J2 L=66%
M=33% 0.31 0.39 0.47 17.78 43.87 79.45
M=0% 0.30 0.38 0.46 16.97 42.25 77.00
M=100% 0.34 0.42 0.50 19.00 46.32 83.16
M=66% 0.31 0.39 0.47 17.72 43.75 79.28
L=33%
M=33% 0.29 0.36 0.45 16.34 40.99 75.10
M=0% 0.26 0.34 0.43 15.24 38.79 71.76
M=100% 0.40 0.48 0.57 25.44 60.28 106.01
M=66% 0.38 0.46 0.54 24.10 57.61 101.97
J3 -
M=33% 0.36 0.44 0.52 22.70 54.81 97.73
M=0% 0.33 0.41 0.49 21.17 51.75 93.08
M=100% 0.37 0.45 0.53 22.01 52.82 93.78
M=66% 0.35 0.43 0.51 20.90 50.61 90.44
J4 -
M=33% 0.33 0.41 0.49 19.89 48.58 87.36
M=0% 0.31 0.39 0.47 18.80 46.41 84.07
M=100% 0.37 0.45 0.54 29.58 70.92 125.82
M=66% 0.35 0.43 0.51 28.03 67.83 121.13
J5 -
M=33% 0.33 0.41 0.49 26.56 64.88 116.66
M=0% 0.31 0.39 0.47 25.11 61.97 112.26
J6 - Load 1 0.37 0.45 0.53 46.69 112.20 199.38

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.36 48.58
J2 L=100% M=100% 0.54 62.30
J3 L=100% M=100% 0.38 57.40
J4 - M=100% 0.29 38.92
J5 - M=100% 0.40 27.30
J6 - Load 1 0.18 36.12

7-108 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-7FRLL
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.63 0.75 0.87 34.66 81.90 143.73
M=66% 0.60 0.72 0.84 33.21 79.01 139.35
L=100%
M=33% 0.58 0.69 0.82 31.75 76.08 134.91
M=0% 0.55 0.67 0.79 30.21 73.01 130.27
M=100% 0.57 0.69 0.81 31.61 75.80 134.50
M=66% 0.54 0.66 0.78 29.85 72.29 129.18
J1 L=66%
M=33% 0.51 0.62 0.75 28.03 68.64 123.64
M=0% 0.47 0.59 0.71 26.04 64.66 117.62
M=100% 0.57 0.69 0.81 31.56 75.71 134.35
M=66% 0.54 0.66 0.78 29.82 72.22 129.07
L=33%
M=33% 0.50 0.62 0.75 28.00 68.59 123.57
M=0% 0.47 0.59 0.71 26.03 64.65 117.61
M=100% 0.57 0.69 0.82 16.18 38.80 68.82
M=66% 0.55 0.67 0.79 15.53 37.48 66.82
L=100%
M=33% 0.52 0.64 0.77 14.86 36.14 64.79
M=0% 0.50 0.62 0.74 14.15 34.73 62.66
M=100% 0.52 0.64 0.76 14.63 35.68 64.10
M=66% 0.49 0.61 0.73 13.81 34.05 61.63
J2 L=66%
M=33% 0.45 0.57 0.70 12.95 32.34 59.04
M=0% 0.42 0.54 0.66 12.02 30.46 56.19
M=100% 0.52 0.63 0.76 14.60 35.63 64.03
M=66% 0.49 0.60 0.73 13.79 34.01 61.57
L=33%
M=33% 0.45 0.57 0.70 12.94 32.32 59.00
M=0% 0.42 0.54 0.66 12.02 30.46 56.19
M=100% 0.57 0.69 0.81 21.33 51.24 91.04
M=66% 0.53 0.65 0.78 20.20 48.98 87.61
J3 -
M=33% 0.50 0.62 0.74 19.02 46.63 84.05
M=0% 0.47 0.59 0.71 17.75 44.09 80.20
M=100% 0.48 0.60 0.73 31.49 77.69 140.66
M=66% 0.47 0.59 0.71 30.65 76.00 138.10
J4 -
M=33% 0.46 0.58 0.70 29.79 74.29 135.50
M=0% 0.44 0.56 0.68 28.90 72.49 132.79
M=100% 0.48 0.60 0.73 37.79 93.22 168.79
M=66% 0.47 0.59 0.71 36.78 91.20 165.72
J5 -
M=33% 0.46 0.58 0.70 35.75 89.14 162.61
M=0% 0.44 0.56 0.68 34.68 86.99 159.35
J6 - Load 1 0.48 0.60 0.73 60.47 149.16 270.06

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.71 61.34
J2 L=100% M=100% 0.84 39.74
J3 L=100% M=100% 0.85 74.59
J4 - M=100% 0.79 120.24
J5 - M=100% 0.91 135.36
J6 - Load 1 0.18 37.15

Maximum Stopping Time and Maximum Operating Angle 7-109

7 SAFE STOPPING DISTANCE

RV-13FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.59 0.69 0.80 29.57 68.62 118.76
M=66% 0.56 0.66 0.76 28.07 65.61 114.19
L=100%
M=33% 0.53 0.63 0.73 26.51 62.49 109.47
M=0% 0.50 0.59 0.70 24.84 59.15 104.42
M=100% 0.48 0.58 0.68 24.02 57.52 101.94
M=66% 0.46 0.55 0.66 22.92 55.32 98.61
J1 L=66%
M=33% 0.43 0.53 0.63 21.79 53.06 95.18
M=0% 0.41 0.51 0.61 20.58 50.64 91.51
M=100% 0.42 0.52 0.62 21.16 51.79 93.26
M=66% 0.39 0.49 0.59 19.93 49.33 89.53
L=33%
M=33% 0.38 0.48 0.58 19.26 47.99 87.50
M=0% 0.37 0.47 0.57 18.71 46.89 85.84
M=100% 0.54 0.64 0.74 21.81 51.27 89.62
M=66% 0.51 0.61 0.71 20.70 49.04 86.24
L=100%
M=33% 0.48 0.58 0.68 19.54 46.73 82.73
M=0% 0.45 0.55 0.65 18.30 44.24 78.96
M=100% 0.42 0.52 0.63 17.33 42.31 76.04
M=66% 0.40 0.50 0.61 16.55 40.74 73.67
J2 L=66%
M=33% 0.38 0.48 0.58 15.74 39.12 71.20
M=0% 0.36 0.46 0.56 14.86 37.37 68.55
M=100% 0.37 0.46 0.57 15.02 37.69 69.04
M=66% 0.34 0.44 0.54 14.13 35.91 66.34
L=33%
M=33% 0.33 0.43 0.53 13.69 35.03 65.01
M=0% 0.32 0.42 0.52 13.35 34.35 63.98
M=100% 0.48 0.58 0.68 26.05 62.28 110.28
M=66% 0.46 0.55 0.66 24.71 59.61 106.23
J3 -
M=33% 0.43 0.53 0.63 23.52 57.24 102.64
M=0% 0.41 0.51 0.61 22.48 55.15 99.47
M=100% 0.45 0.55 0.65 29.47 71.20 127.00
M=66% 0.43 0.53 0.63 28.34 68.92 123.55
J4 -
M=33% 0.41 0.51 0.62 27.16 66.57 119.99
M=0% 0.39 0.49 0.60 25.90 64.05 116.18
M=100% 0.45 0.55 0.65 29.47 71.20 127.00
M=66% 0.43 0.53 0.63 28.34 68.92 123.55
J5 -
M=33% 0.41 0.51 0.62 27.16 66.57 119.99
M=0% 0.39 0.49 0.60 25.90 64.05 116.18
J6 - Load 1 0.45 0.55 0.65 56.59 136.70 243.84

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.69 59.69
J2 L=100% M=100% 0.81 38.66
J3 L=100% M=100% 0.82 72.50
J4 - M=100% 0.77 116.94
J5 - M=100% 0.89 131.61
J6 - Load 1 0.29 106.75

7-110 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-13FRL
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.56 0.66 0.76 22.49 52.63 91.67
M=66% 0.53 0.63 0.73 21.45 50.55 88.53
L=100%
M=33% 0.50 0.60 0.71 20.39 48.43 85.32
M=0% 0.48 0.57 0.68 19.27 46.19 81.92
M=100% 0.47 0.57 0.67 19.05 45.74 81.23
M=66% 0.45 0.55 0.65 18.44 44.52 79.39
J1 L=66%
M=33% 0.44 0.54 0.64 17.83 43.31 77.55
M=0% 0.42 0.52 0.62 17.21 42.07 75.68
M=100% 0.42 0.52 0.62 17.11 41.87 75.37
M=66% 0.41 0.51 0.61 16.73 41.11 74.22
L=33%
M=33% 0.40 0.50 0.60 16.36 40.37 73.10
M=0% 0.39 0.49 0.59 15.99 39.62 71.96
M=100% 0.57 0.67 0.77 16.16 37.68 65.45
M=66% 0.54 0.64 0.75 15.39 36.13 63.11
L=100%
M=33% 0.52 0.61 0.72 14.59 34.54 60.70
M=0% 0.48 0.58 0.69 13.75 32.86 58.15
M=100% 0.48 0.58 0.68 13.75 32.85 58.13
M=66% 0.47 0.57 0.67 13.27 31.90 56.70
J2 L=66%
M=33% 0.45 0.55 0.65 12.80 30.95 55.26
M=0% 0.43 0.53 0.63 12.31 29.97 53.78
M=100% 0.43 0.53 0.63 12.39 30.14 54.03
M=66% 0.42 0.52 0.62 12.08 29.51 53.08
L=33%
M=33% 0.41 0.51 0.61 11.77 28.89 52.14
M=0% 0.40 0.50 0.60 11.45 28.25 51.17
M=100% 0.49 0.59 0.69 18.48 44.12 78.01
M=66% 0.47 0.57 0.67 17.89 42.94 76.23
J3 -
M=33% 0.45 0.55 0.66 17.29 41.74 74.41
M=0% 0.44 0.54 0.64 16.66 40.47 72.48
M=100% 0.45 0.55 0.65 29.42 71.09 126.83
M=66% 0.44 0.53 0.64 28.41 69.08 123.78
J4 -
M=33% 0.42 0.52 0.62 27.38 67.02 120.66
M=0% 0.40 0.50 0.60 26.29 64.84 117.37
M=100% 0.45 0.55 0.65 29.42 71.09 126.83
M=66% 0.44 0.53 0.64 28.41 69.08 123.78
J5 -
M=33% 0.42 0.52 0.62 27.38 67.02 120.66
M=0% 0.40 0.50 0.60 26.29 64.84 117.37
J6 - Load 1 0.45 0.55 0.65 56.48 136.49 243.52

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.69 59.69
J2 L=100% M=100% 0.81 38.66
J3 L=100% M=100% 0.82 72.50
J4 - M=100% 0.77 116.94
J5 - M=100% 0.89 131.61
J6 - Load 1 0.29 106.75

Maximum Stopping Time and Maximum Operating Angle 7-111

7 SAFE STOPPING DISTANCE

RV-20FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.75 0.87 0.99 14.04 32.41 55.87
M=66% 0.70 0.82 0.94 13.20 30.72 53.31
L=100%
M=33% 0.65 0.77 0.89 12.30 28.92 50.58
M=0% 0.60 0.71 0.84 11.30 26.92 47.54
M=100% 0.66 0.78 0.90 12.52 29.36 51.24
M=66% 0.61 0.73 0.85 11.61 27.54 48.49
J1 L=66%
M=33% 0.56 0.68 0.80 10.62 25.56 45.48
M=0% 0.50 0.62 0.74 9.55 23.42 42.24
M=100% 0.66 0.78 0.90 12.51 29.35 51.23
M=66% 0.61 0.73 0.85 11.61 27.54 48.48
L=33%
M=33% 0.56 0.68 0.80 10.61 25.56 45.48
M=0% 0.49 0.61 0.74 9.45 23.23 41.96
M=100% 0.65 0.76 0.89 12.19 28.70 50.25
M=66% 0.60 0.72 0.84 11.41 27.15 47.90
L=100%
M=33% 0.56 0.68 0.80 10.58 25.49 45.38
M=0% 0.51 0.62 0.75 9.66 23.64 42.57
M=100% 0.56 0.68 0.80 10.66 25.65 45.62
M=66% 0.52 0.63 0.76 9.82 23.97 43.08
J2 L=66%
M=33% 0.46 0.58 0.71 8.90 22.13 40.29
M=0% 0.41 0.53 0.65 7.91 20.14 37.27
M=100% 0.56 0.68 0.80 10.66 25.64 45.61
M=66% 0.52 0.63 0.76 9.82 23.97 43.07
L=33%
M=33% 0.46 0.58 0.71 8.90 22.13 40.28
M=0% 0.40 0.52 0.65 7.81 19.95 36.99
M=100% 0.69 0.81 0.94 13.09 30.52 53.00
M=66% 0.65 0.77 0.89 12.27 28.86 50.49
J3 -
M=33% 0.60 0.72 0.84 11.38 27.08 47.79
M=0% 0.54 0.66 0.79 10.36 25.05 44.72
M=100% 0.52 0.64 0.76 11.18 27.23 48.85
M=66% 0.49 0.61 0.73 10.55 25.97 46.93
J4 -
M=33% 0.46 0.58 0.70 9.88 24.62 44.89
M=0% 0.42 0.54 0.66 9.13 23.12 42.61
M=100% 0.52 0.64 0.76 11.27 27.45 49.24
M=66% 0.49 0.61 0.73 10.64 26.18 47.31
J5 -
M=33% 0.46 0.58 0.70 9.96 24.82 45.25
M=0% 0.42 0.54 0.66 9.20 23.30 42.96
J6 - Load 1 0.52 0.64 0.76 32.47 79.06 141.82

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.69 59.69
J2 L=100% M=100% 0.81 38.66
J3 L=100% M=100% 0.82 72.50
J4 - M=100% 0.77 116.94
J5 - M=100% 0.89 131.61
J6 - Load 1 0.29 106.75

7-112 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-35FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.94 1.26 1.59 28.73 76.29 144.96
M=66% 0.91 1.23 1.55 27.74 74.29 141.94
L=100%
M=33% 0.88 1.19 1.52 26.71 72.23 138.82
M=0% 0.84 1.15 1.48 25.60 70.02 135.47
M=100% 0.90 1.22 1.54 27.49 73.80 141.19
M=66% 0.86 1.17 1.50 26.12 71.06 137.05
J1 L=66%
M=33% 0.81 1.12 1.45 24.66 68.13 132.60
M=0% 0.79 1.10 1.43 24.06 66.93 130.79
M=100% 0.90 1.22 1.54 27.39 73.61 140.90
M=66% 0.85 1.17 1.49 26.01 70.84 136.71
L=33%
M=33% 0.80 1.12 1.44 24.52 67.86 132.20
M=0% 0.74 1.06 1.39 22.82 64.46 127.04
M=100% 0.90 1.17 1.46 27.32 71.11 133.45
M=66% 0.86 1.14 1.43 26.32 69.11 130.41
L=100%
M=33% 0.83 1.10 1.39 25.28 67.03 127.27
M=0% 0.79 1.07 1.35 24.16 64.79 123.88
M=100% 0.85 1.13 1.41 25.90 68.27 129.14
M=66% 0.80 1.08 1.36 24.53 65.52 124.98
J2 L=66%
M=33% 0.75 1.03 1.31 23.05 62.57 120.51
M=0% 0.73 1.01 1.29 22.44 61.35 118.66
M=100% 0.87 1.15 1.44 26.70 69.86 131.55
M=66% 0.83 1.11 1.39 25.31 67.08 127.34
L=33%
M=33% 0.78 1.05 1.34 23.81 64.09 122.80
M=0% 0.72 1.00 1.28 22.10 60.66 117.61
M=100% 0.80 0.99 1.20 25.06 62.20 113.11
M=66% 0.76 0.96 1.16 23.97 60.02 109.81
J3 -
M=33% 0.72 0.92 1.13 22.83 57.75 106.36
M=0% 0.68 0.88 1.09 21.59 55.26 102.60
M=100% 0.76 0.96 1.16 33.72 84.4 154.43
M=66% 0.73 0.93 1.14 32.56 82.1 150.92
J4 -
M=33% 0.71 0.90 1.11 31.35 79.7 147.27
M=0% 0.68 0.87 1.08 30.06 77.1 143.36
M=100% 0.76 0.96 1.16 33.72 84.4 154.43
M=66% 0.73 0.93 1.14 32.56 82.1 150.92
J5 -
M=33% 0.71 0.90 1.11 31.35 79.7 147.27
M=0% 0.68 0.87 1.08 30.06 77.1 143.36
J6 - Load 1 0.76 0.96 1.16 46.73 117.0 213.98

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.54 50.86
J2 L=100% M=100% 0.73 57.26
J3 L=100% M=100% 0.51 49.43
J4 - M=100% 0.21 31.46
J5 - M=100% 0.24 39.96
J6 - Load 1 0.36 65.76

Maximum Stopping Time and Maximum Operating Angle 7-113

7 SAFE STOPPING DISTANCE

RV-50FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 1.00 1.31 1.64 30.27 79.36 149.61
M=66% 0.95 1.27 1.59 28.93 76.68 145.55
L=100%
M=33% 0.90 1.22 1.55 27.52 73.85 141.27
M=0% 0.85 1.17 1.49 25.96 70.73 136.55
M=100% 0.96 1.28 1.60 29.25 77.32 146.52
M=66% 0.90 1.22 1.54 27.45 73.72 141.08
J1 L=66%
M=33% 0.83 1.15 1.48 25.48 69.79 135.11
M=0% 0.79 1.11 1.44 24.24 67.29 131.33
M=100% 0.96 1.27 1.60 29.17 77.15 146.27
M=66% 0.90 1.21 1.54 27.35 73.52 140.77
L=33%
M=33% 0.83 1.15 1.47 25.36 69.54 134.74
M=0% 0.75 1.07 1.39 23.00 64.81 127.58
M=100% 0.90 1.18 1.46 27.44 71.34 133.80
M=66% 0.85 1.13 1.42 26.09 68.65 129.72
L=100%
M=33% 0.81 1.08 1.37 24.67 65.80 125.40
M=0% 0.75 1.03 1.32 23.10 62.66 120.64
M=100% 0.90 1.18 1.46 27.49 71.44 133.95
M=66% 0.84 1.12 1.40 25.68 67.83 128.48
J2 L=66%
M=33% 0.77 1.05 1.34 23.71 63.88 122.49
M=0% 0.73 1.01 1.29 22.44 61.35 118.66
M=100% 0.90 1.18 1.46 27.40 71.27 133.69
M=66% 0.84 1.11 1.40 25.58 67.63 128.18
L=33%
M=33% 0.77 1.05 1.33 23.58 63.63 122.12
M=0% 0.69 0.97 1.25 21.20 58.87 114.91
M=100% 0.74 0.93 1.14 23.22 58.53 107.55
M=66% 0.69 0.89 1.09 21.77 55.62 103.14
J3 -
M=33% 0.64 0.84 1.04 20.21 52.52 98.44
M=0% 0.58 0.78 0.98 18.47 49.03 93.16
M=100% 0.73 0.93 1.13 32.26 81.5 150.01
M=66% 0.69 0.89 1.09 30.70 78.4 145.28
J4 -
M=33% 0.65 0.85 1.06 29.05 75.1 140.29
M=0% 0.61 0.81 1.01 27.23 71.4 134.78
M=100% 0.81 1.00 1.21 35.60 88.2 160.15
M=66% 0.77 0.97 1.17 34.04 85.1 155.42
J5 -
M=33% 0.73 0.93 1.13 32.40 81.8 150.43
M=0% 0.69 0.89 1.09 30.58 78.1 144.92
J6 - Load 1 0.79 0.99 1.19 48.19 119.9 218.38

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.68 59.67
J2 L=100% M=100% 0.61 51.76
J3 L=100% M=100% 0.43 41.88
J4 - M=100% 0.28 38.55
J5 - M=100% 0.36 49.66
J6 - Load 1 0.43 77.38

7-114 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-80FR
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 1.07 1.38 1.71 32.43 83.68 156.17
M=66% 1.00 1.32 1.65 30.49 79.80 150.29
L=100%
M=33% 0.93 1.25 1.57 28.38 75.58 143.89
M=0% 0.85 1.17 1.49 25.96 70.73 136.55
M=100% 1.05 1.37 1.69 31.90 82.62 154.56
M=66% 0.96 1.28 1.61 29.37 77.56 146.90
J1 L=66%
M=33% 0.87 1.19 1.51 26.53 71.87 138.27
M=0% 0.79 1.10 1.43 24.06 66.93 130.79
M=100% 1.07 1.38 1.71 32.36 83.54 155.95
M=66% 0.98 1.30 1.62 29.82 78.46 148.25
L=33%
M=33% 0.88 1.20 1.53 26.95 72.72 139.55
M=0% 0.76 1.08 1.41 23.35 65.53 128.66
M=100% 0.97 1.25 1.54 29.61 75.68 140.37
M=66% 0.91 1.18 1.47 27.66 71.79 134.47
L=100%
M=33% 0.84 1.11 1.40 25.54 67.55 128.05
M=0% 0.75 1.03 1.32 23.10 62.66 120.64
M=100% 0.86 1.14 1.43 26.40 69.27 130.66
M=66% 0.78 1.06 1.34 23.87 64.20 122.98
J2 L=66%
M=33% 0.68 0.96 1.25 21.01 58.49 114.33
M=0% 0.60 0.88 1.16 18.52 53.51 106.78
M=100% 0.99 1.27 1.55 30.07 76.61 141.78
M=66% 0.90 1.18 1.47 27.52 71.51 134.05
L=33%
M=33% 0.81 1.08 1.37 24.64 65.75 125.33
M=0% 0.68 0.96 1.25 21.03 58.52 114.37
M=100% 0.83 1.03 1.23 22.57 55.60 100.56
M=66% 0.76 0.96 1.16 20.77 51.99 95.09
J3 -
M=33% 0.69 0.89 1.09 18.78 48.02 89.08
M=0% 0.60 0.80 1.00 16.45 43.36 82.01
M=100% 0.82 1.01 1.22 25.61 63.3 114.80
M=66% 0.76 0.96 1.16 23.93 60.0 109.70
J4 -
M=33% 0.70 0.90 1.10 22.18 56.5 104.41
M=0% 0.64 0.83 1.04 20.17 52.4 98.30
M=100% 0.81 1.01 1.21 22.78 56.3 102.19
M=66% 0.76 0.96 1.16 21.34 53.5 97.84
J5 -
M=33% 0.70 0.90 1.10 19.79 50.4 93.12
M=0% 0.64 0.83 1.04 17.99 46.8 87.68
J6 - Load 1 0.81 1.01 1.22 38.70 95.7 173.56

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.75 67.05
J2 L=100% M=100% 0.75 55.60
J3 L=100% M=100% 0.50 42.52
J4 - M=100% 0.23 24.89
J5 - M=100% 0.27 23.99
J6 - Load 1 0.38 58.90

Maximum Stopping Time and Maximum Operating Angle 7-115

7 SAFE STOPPING DISTANCE

RV-8CRL
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.74 0.80 0.86 36.10 77.85 126.77
M=66% 0.72 0.77 0.84 35.12 75.89 123.81
L=100%
M=33% 0.66 0.72 0.79 32.72 71.09 116.52
M=0% 0.65 0.77 0.89 33.46 78.68 137.58
M=100% 0.58 0.63 0.70 28.47 62.59 103.64
M=66% 0.52 0.58 0.64 25.99 57.63 96.13
J1 L=66%
M=33% 0.47 0.53 0.59 23.36 52.37 88.15
M=0% 0.41 0.47 0.53 20.46 46.56 79.36
M=100% 0.51 0.57 0.63 25.30 56.24 94.02
M=66% 0.46 0.52 0.58 22.91 51.46 86.78
L=33%
M=33% 0.40 0.46 0.52 20.28 46.21 78.82
M=0% 0.38 0.43 0.50 18.96 43.57 74.83
M=100% 0.53 0.59 0.65 29.54 65.37 108.86
M=66% 0.49 0.55 0.61 27.36 61.01 102.26
L=100%
M=33% 0.45 0.51 0.57 25.05 56.39 95.26
M=0% 0.40 0.46 0.52 22.49 51.27 87.50
M=100% 0.44 0.50 0.56 24.38 55.05 93.22
M=66% 0.40 0.46 0.52 22.28 50.86 86.88
J2 L=66%
M=33% 0.37 0.43 0.49 20.64 47.57 81.89
M=0% 0.33 0.39 0.45 18.86 44.01 76.51
M=100% 0.43 0.49 0.55 23.89 54.06 91.74
M=66% 0.38 0.44 0.50 21.59 49.47 84.77
L=33%
M=33% 0.34 0.39 0.46 19.04 44.38 77.07
M=0% 0.31 0.37 0.44 17.93 42.16 73.70
M=100% 0.49 0.55 0.61 30.62 68.29 114.49
M=66% 0.45 0.51 0.57 28.02 63.10 106.61
J3 -
M=33% 0.40 0.46 0.52 25.21 57.47 98.09
M=0% 0.35 0.41 0.47 21.98 51.01 88.30
M=100% 0.57 0.63 0.69 33.03 72.68 120.45
M=66% 0.56 0.62 0.68 32.44 71.51 118.67
J4 -
M=33% 0.52 0.58 0.64 30.33 67.28 112.27
M=0% 0.47 0.53 0.59 27.67 61.96 104.21
M=100% 0.59 0.65 0.71 45.70 100.23 165.63
M=66% 0.58 0.64 0.70 44.60 98.02 162.28
J5 -
M=33% 0.53 0.59 0.65 41.06 90.94 151.56
M=0% 0.47 0.53 0.59 36.90 82.62 138.94
J6 - Load 1 0.55 0.61 0.67 68.13 150.37 249.87

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.55 80.97
J2 L=100% M=100% 0.37 51.79
J3 L=100% M=100% 0.24 33.57
J4 - M=100% 0.16 25.62
J5 - M=100% 0.13 13.46
J6 - Load 1 0.06 8.48

7-116 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RV-12CRL
Stopping time and stopping distance (emergency stop)
Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.89 0.95 1.01 40.9 87.2 140.3
M=66% 0.86 0.91 0.98 39.3 83.9 135.4
L=100%
M=33% 0.82 0.88 0.94 37.6 80.6 130.3
M=0% 0.78 0.84 0.90 39.7 85.2 138.3
M=100% 0.73 0.79 0.85 33.6 72.4 118.0
M=66% 0.73 0.79 0.85 33.8 72.9 118.8
J1 L=66%
M=33% 0.70 0.76 0.82 32.5 70.2 114.7
M=0% 0.69 0.75 0.81 31.9 69.1 113.1
M=100% 0.66 0.72 0.78 30.6 66.6 109.2
M=66% 0.73 0.79 0.85 33.9 73.1 119.0
L=33%
M=33% 0.67 0.73 0.79 30.9 67.0 109.8
M=0% 0.64 0.70 0.76 29.5 64.4 105.8
M=100% 1.12 1.18 1.24 47.9 100.7 160.3
M=66% 1.09 1.15 1.21 46.3 97.7 155.7
L=100%
M=33% 1.05 1.11 1.17 44.8 94.5 150.9
M=0% 1.01 1.07 1.13 43.1 91.1 145.8
M=100% 0.72 0.78 0.84 31.2 67.3 109.7
M=66% 0.66 0.72 0.78 28.5 62.0 101.7
J2 L=66%
M=33% 0.63 0.69 0.75 27.3 59.5 97.9
M=0% 0.62 0.68 0.74 26.8 58.5 96.4
M=100% 0.68 0.74 0.80 29.6 64.1 104.8
M=66% 0.62 0.68 0.74 26.9 58.8 96.9
L=33%
M=33% 0.55 0.61 0.67 24.1 53.2 88.4
M=0% 0.52 0.58 0.64 22.9 50.7 84.6
M=100% 0.67 0.73 0.79 33.2 72.0 118.0
M=66% 0.63 0.69 0.75 31.4 68.6 112.8
J3 -
M=33% 0.59 0.65 0.72 29.6 65.0 107.3
M=0% 0.55 0.61 0.67 27.7 61.1 101.4
M=100% 0.89 0.95 1.01 73.2 155.9 251.2
M=66% 0.85 0.91 0.97 70.3 150.1 242.4
J4 -
M=33% 0.81 0.87 0.93 67.2 144.1 233.2
M=0% 0.77 0.83 0.89 64.0 137.5 223.3
M=100% 0.72 0.78 0.84 58.8 127.1 207.3
M=66% 0.68 0.74 0.80 56.0 121.4 198.6
J5 -
M=33% 0.64 0.70 0.76 53.0 115.4 189.5
M=0% 0.60 0.66 0.72 49.7 108.9 179.8
J6 - Load 1 0.88 0.94 1.00 116.1 247.6 399.0

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.69 88.6
J2 L=100% M=100% 0.63 83.2
J3 L=100% M=100% 0.53 79.0
J4 - M=100% 0.13 22.1
J5 - M=100% 0.21 38.4
J6 - Load 1 0.21 47.0

Maximum Stopping Time and Maximum Operating Angle 7-117

7 SAFE STOPPING DISTANCE

RH-3FRH
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.26 0.28 0.31 13.86 30.52 50.61
M=66% 0.24 0.28 0.31 15.82 35.68 60.36
L=100%
M=33% 0.24 0.28 0.32 18.04 41.58 71.56
M=0% 0.22 0.26 0.30 17.18 39.84 68.93
M=100% 0.26 0.28 0.31 13.86 30.52 50.61
M=66% 0.24 0.27 0.31 15.54 35.11 59.50
J1 L=66%
M=33% 0.22 0.26 0.30 16.90 39.29 68.10
M=0% 0.21 0.25 0.29 16.23 37.94 66.06
M=100% 0.26 0.28 0.31 13.86 30.52 50.61
M=66% 0.24 0.27 0.31 15.54 35.11 59.50
L=33%
M=33% 0.21 0.25 0.29 16.51 38.50 66.90
M=0% 0.21 0.24 0.29 15.88 37.25 65.01
M=100% 0.23 0.29 0.35 21.71 53.02 95.32
M=66% 0.23 0.29 0.36 25.36 64.55 119.39
J2 -
M=33% 0.23 0.30 0.39 29.65 78.12 147.75
M=0% 0.21 0.29 0.37 28.24 75.30 143.47
M=100% 0.26 0.34 0.42 51.61 131.39 243.05
M=66% 0.24 0.32 0.40 47.68 124.10 232.91
J3 -
M=33% 0.22 0.30 0.38 43.89 116.53 221.44
M=0% 0.22 0.30 0.38 44.86 118.48 224.39
Load 2 0.33 0.35 0.38 52.24 111.53 180.00
J4 -
Load 1 0.31 0.36 0.42 110.40 255.63 441.69

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
M=100% 0.92 196.55
J1 L=100%
M=33% 1.28 275.17
M=100% 1.00 126.12
J2 L=100%
M=33% 1.40 176.60
M=100% 0.41 71.82
J3 -
M=33% 0.34 61.32
Load 2 2.74 601.95
J4 -
Load 1 1.45 667.04

7-118 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RH-6FRH
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.37 0.45 0.53 17.52 42.29 75.40
M=66% 0.38 0.48 0.59 23.82 60.26 111.01
L=100%
M=33% 0.38 0.49 0.62 26.38 68.45 128.19
M=0% 0.36 0.48 0.60 25.32 66.31 124.96
M=100% 0.34 0.42 0.50 16.37 39.99 71.92
M=66% 0.36 0.46 0.57 22.49 57.60 106.98
J1 L=66%
M=33% 0.36 0.48 0.60 25.13 65.94 124.40
M=0% 0.34 0.46 0.59 24.32 64.33 121.95
M=100% 0.32 0.40 0.49 15.53 38.32 69.38
M=66% 0.34 0.45 0.56 21.56 55.73 104.15
L=33%
M=33% 0.35 0.46 0.59 24.40 64.48 122.18
M=0% 0.34 0.46 0.58 23.93 63.54 120.75
M=100% 0.26 0.33 0.40 21.67 53.48 96.84
M=66% 0.27 0.36 0.45 29.47 76.60 143.62
J2 -
M=33% 0.27 0.37 0.47 32.38 86.65 165.46
M=0% 0.25 0.35 0.45 30.63 83.15 160.15
M=100% 0.25 0.32 0.39 95.89 241.91 444.79
M=66% 0.23 0.31 0.39 96.81 250.11 467.14
J3 -
M=33% 0.22 0.30 0.38 95.41 253.54 482.08
M=0% 0.23 0.30 0.39 98.83 260.38 492.44
Load 2 0.33 0.36 0.39 49.79 107.14 174.13
J4 -
Load 1 0.31 0.37 0.43 104.53 246.80 432.85

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
M=100% 0.53 71.40
J1 L=100%
M=50% 0.65 95.48
M=100% 0.43 83.44
J2 L=100%
M=50% 0.46 119.56
M=100% 0.09 53.34
J3 -
M=50% 0.10 145.88
Load 2 0.94 340.61
J4 -
Load 1 0.50 377.44

Maximum Stopping Time and Maximum Operating Angle 7-119

7 SAFE STOPPING DISTANCE

RH-12FRH
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.48 0.50 0.51 18.28 37.61 58.60
M=66% 0.42 0.44 0.46 22.86 47.82 75.71
L=100%
M=33% 0.35 0.38 0.40 24.63 52.72 85.28
M=0% 0.32 0.35 0.38 23.82 51.49 84.01
M=100% 0.48 0.50 0.51 18.28 37.61 58.60
M=66% 0.42 0.44 0.46 22.86 47.82 75.71
J1 L=66%
M=33% 0.35 0.37 0.40 24.46 52.37 84.75
M=0% 0.29 0.31 0.34 21.51 46.85 76.99
M=100% 0.48 0.50 0.51 18.28 37.61 58.60
M=66% 0.42 0.44 0.46 22.86 47.82 75.71
L=33%
M=33% 0.35 0.37 0.40 24.46 52.37 84.75
M=0% 0.26 0.29 0.32 19.79 43.42 71.79
M=100% 0.47 0.50 0.54 18.94 40.59 65.72
M=66% 0.42 0.47 0.52 24.31 54.06 90.40
J2 -
M=33% 0.36 0.42 0.49 27.07 63.14 109.73
M=0% 0.34 0.40 0.47 26.72 63.44 111.73
M=100% 0.51 0.55 0.59 216.09 466.05 759.02
M=66% 0.43 0.47 0.52 191.96 421.11 696.11
J3 -
M=33% 0.33 0.37 0.42 156.10 352.91 598.29
M=0% 0.29 0.33 0.38 142.90 329.70 568.10
Load 2 0.48 0.50 0.51 95.32 195.56 303.97
J4 -
Load 1 0.38 0.41 0.43 155.60 332.07 535.73

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
M=100% 0.62 24.55
J1 L=100%
M=25% 0.59 38.17
M=100% 0.66 57.68
J2 L=100%
M=25% 1.26 109.27
M=100% 0.68 269.73
J3 -
M=25% 0.19 150.08
Load 2 1.95 281.87
J4 -
Load 1 0.68 269.73

7-120 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RH-20FRH
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.63 0.65 0.68 15.08 31.26 49.08
M=66% 0.55 0.59 0.62 19.30 40.92 65.62
L=100%
M=33% 0.45 0.50 0.54 20.84 45.62 75.26
M=0% 0.37 0.42 0.47 18.29 40.97 68.94
M=100% 0.63 0.65 0.68 15.08 31.26 49.08
M=66% 0.55 0.59 0.62 19.30 40.92 65.62
J1 L=66%
M=33% 0.45 0.50 0.54 20.84 45.62 75.26
M=0% 0.34 0.38 0.43 16.67 37.73 64.02
M=100% 0.63 0.65 0.68 15.08 31.26 49.08
M=66% 0.55 0.59 0.62 19.30 40.92 65.62
L=33%
M=33% 0.45 0.50 0.54 20.84 45.62 75.26
M=0% 0.31 0.36 0.41 15.46 35.30 60.35
M=100% 0.54 0.56 0.59 20.96 43.69 68.96
M=66% 0.47 0.50 0.54 26.53 56.78 91.85
J2 -
M=33% 0.37 0.42 0.47 27.97 62.26 104.22
M=0% 0.30 0.34 0.39 23.83 54.71 93.92
M=100% 0.58 0.62 0.66 202.66 432.13 696.62
M=66% 0.49 0.53 0.58 183.42 397.15 649.07
J3 -
M=33% 0.38 0.42 0.47 149.09 331.43 554.08
M=0% 0.28 0.33 0.38 121.69 281.01 484.52
Load 2 0.67 0.67 0.68 29.79 60.21 92.21
J4 -
Load 1 0.62 0.66 0.69 128.44 270.25 430.32

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
M=100% 0.92 36.82
J1 L=100%
M=25% 0.88 57.26
M=100% 1.00 86.52
J2 L=100%
M=25% 1.89 163.90
M=100% 1.02 404.60
J3 -
M=25% 0.21 182.00
Load 2 2.74 422.80
J4 -
Load 1 1.02 404.60

Maximum Stopping Time and Maximum Operating Angle 7-121

7 SAFE STOPPING DISTANCE

RH-3FRHR
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.42 0.46 0.51 36.55 80.50 133.54
M=66% 0.40 0.45 0.50 40.91 91.91 155.01
L=100%
M=33% 0.38 0.44 0.50 44.64 102.46 175.81
M=0% 0.35 0.41 0.47 41.41 95.99 166.01
M=100% 0.38 0.43 0.47 33.84 75.08 125.32
M=66% 0.37 0.42 0.47 38.10 86.29 146.49
J1 L=66%
M=33% 0.35 0.41 0.47 41.86 96.89 167.36
M=0% 0.33 0.39 0.45 39.10 91.38 159.01
M=100% 0.36 0.41 0.45 32.07 71.56 119.98
M=66% 0.35 0.40 0.45 35.98 82.05 140.05
L=33%
M=33% 0.34 0.39 0.46 39.81 92.79 161.15
M=0% 0.31 0.37 0.43 37.46 88.09 154.03
M=100% 0.38 0.42 0.47 35.21 78.23 130.72
M=66% 0.36 0.41 0.47 39.41 89.45 152.12
J2 -
M=33% 0.34 0.40 0.46 42.83 99.54 172.48
M=0% 0.31 0.37 0.43 39.13 92.14 161.27
M=100% 0.30 0.34 0.39 61.49 140.53 240.32
M=66% 0.28 0.33 0.38 63.65 148.89 259.30
J3 -
M=33% 0.25 0.30 0.35 59.33 141.80 250.98
M=0% 0.20 0.26 0.32 56.24 141.89 260.88
Load 2 0.22 0.26 0.31 93.78 222.25 390.89
J4 -
Load 1 0.22 0.28 0.34 124.52 310.71 567.03

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
M=100% 0.43 91.70
J1 L=100%
M=33% 0.61 119.14
M=100% 0.41 74.34
J2 L=100%
M=33% 0.41 104.30
M=100% 0.21 78.40
J3 -
M=33% 0.22 73.78
Load 2 0.78 418.60
J4 -
Load 1 0.92 915.32

7-122 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RH-1FRHR
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.22 0.26 0.30 9.76 22.45 38.59
M=66% 0.23 0.27 0.32 11.91 28.02 49.03
L=100%
M=33% 0.23 0.28 0.33 14.11 33.95 60.39
M=0% 0.23 0.28 0.33 13.91 33.55 59.78
M=100% 0.21 0.24 0.28 9.18 21.29 36.82
M=66% 0.21 0.26 0.30 11.24 26.68 47.01
J1 L=66%
M=33% 0.22 0.27 0.32 13.36 32.46 58.13
M=0% 0.21 0.26 0.32 13.20 32.14 57.64
M=100% 0.20 0.24 0.27 8.84 20.61 35.79
M=66% 0.20 0.25 0.29 10.85 25.91 45.84
L=33%
M=33% 0.21 0.26 0.31 12.94 31.61 56.84
M=0% 0.21 0.26 0.31 12.80 31.33 56.43
M=100% 0.24 0.28 0.32 22.23 51.66 89.52
M=66% 0.24 0.29 0.35 27.14 64.65 114.13
J2 -
M=33% 0.25 0.31 0.37 32.18 78.48 140.94
M=0% 0.24 0.30 0.37 31.91 77.93 140.10
M=100% 0.19 0.25 0.31 27.10 69.20 128.25
M=66% 0.19 0.25 0.31 26.69 68.38 127.01
J3 -
M=33% 0.19 0.25 0.31 26.51 68.02 126.46
M=0% 0.18 0.24 0.31 26.33 67.65 125.91
J4 - Load 1 0.17 0.20 0.24 56.51 134.20 236.38

Stopping time and stopping distance (power off)

Stopping time [s] Stopping distance [deg]
Axis Arm extension Load rate
Ovrd 100% Ovrd 100%
M=100% 0.22 22.12
J1 L=100%
M=33% 0.35 53.20
M=100% 0.19 41.02
J2 L=100%
M=33% 0.26 71.12
M=100% 0.13 49.28
J3 -
M=33% 0.11 37.24
J4 - Load 1 0.16 177.24

Maximum Stopping Time and Maximum Operating Angle 7-123

7 SAFE STOPPING DISTANCE

RH-3CRH
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.45 0.61 0.78 46.48 125.62 241.34
M=66% 0.46 0.66 0.87 57.88 162.80 320.10
L=100%
M=33% 0.44 0.63 0.84 54.69 156.43 310.46
M=0% 0.41 0.61 0.81 51.78 150.61 301.64
M=100% 0.39 0.55 0.72 40.94 114.55 224.57
M=66% 0.41 0.61 0.82 51.94 150.92 302.11
J1 L=66%
M=33% 0.39 0.59 0.80 49.54 146.13 294.84
M=0% 0.46 0.66 0.86 57.51 162.07 319.00
M=100% 0.35 0.52 0.69 37.18 107.04 213.18
M=66% 0.38 0.58 0.78 47.97 142.98 290.08
L=33%
M=33% 0.36 0.56 0.77 46.17 139.38 284.62
M=0% 0.44 0.64 0.84 54.81 156.67 310.82
M=100% 0.41 0.58 0.75 43.45 119.58 232.18
M=66% 0.43 0.63 0.83 54.25 155.55 309.12
J2 -
M=33% 0.41 0.61 0.81 51.51 150.07 300.82
M=0% 0.39 0.59 0.79 49.17 145.38 293.71
M=100% 0.44 0.64 0.84 85.96 245.11 485.61
M=66% 0.43 0.62 0.83 83.14 239.46 477.05
J3 -
M=33% 0.41 0.61 0.81 79.92 233.03 467.31
M=0% 0.39 0.59 0.79 76.48 226.14 456.88
Load 2 0.60 0.67 0.74 95.80 212.86 355.68
J4 -
Load 1 0.47 0.60 0.74 143.95 364.97 673.29

Stopping time and stopping distance (power off)

Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate J3 axis [mm]
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.61 170.70
J2 - M=100% 0.57 174.28
J3 - M=100% 0.27 168.38
J4 - Load 2 0.63 208.89

7-124 Maximum Stopping Time and Maximum Operating Angle

 7 SAFE STOPPING DISTANCE

RH-6CRH
Stopping time and stopping distance (emergency stop)
Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate
J3 axis [mm]
Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100%
M=100% 0.47 0.50 0.53 16.98 36.02 57.79
M=66% 0.44 0.49 0.53 24.44 53.57 88.50
L=100%
M=33% 0.42 0.48 0.54 30.53 69.30 117.85
M=0% 0.35 0.41 0.47 25.66 59.56 103.10
M=100% 0.33 0.36 0.39 12.25 26.55 43.45
M=66% 0.32 0.37 0.41 18.02 40.74 69.05
J1 L=66%
M=33% 0.31 0.37 0.43 23.06 54.36 95.21
M=0% 0.28 0.34 0.40 21.29 50.82 89.85
M=100% 0.35 0.37 0.41 12.80 27.65 45.11
M=66% 0.34 0.39 0.43 19.08 42.84 72.24
L=33%
M=33% 0.33 0.39 0.45 24.82 57.87 100.53
M=0% 0.29 0.35 0.41 21.59 51.40 90.74
M=100% 0.40 0.43 0.46 25.33 54.20 87.62
M=66% 0.38 0.43 0.47 36.51 81.06 135.38
J2 -
M=33% 0.36 0.42 0.48 45.59 105.30 181.57
M=0% 0.32 0.38 0.44 40.90 95.91 167.36
M=100% 0.42 0.48 0.54 81.20 183.96 312.39
M=66% 0.39 0.45 0.51 74.38 170.31 291.71
J3 -
M=33% 0.35 0.41 0.47 67.32 156.20 270.32
M=0% 0.30 0.36 0.42 58.40 138.36 243.29
Load 2 0.55 0.56 0.57 51.49 105.32 163.24
J4 -
Load 1 0.30 0.34 0.38 104.38 233.24 391.63

Stopping time and stopping distance (power off)

Stopping distance
Stopping time [s] J1/J2/J4 axis [deg]
Axis Arm extension Load rate J3 axis [mm]
Ovrd 100% Ovrd 100%
J1 L=100% M=100% 0.37 39.21
J2 - M=100% 0.34 58.92
J3 - M=100% 0.44 185.80
J4 - Load 2 0.48 108.94

Maximum Stopping Time and Maximum Operating Angle 7-125

7 SAFE STOPPING DISTANCE

7.3 Calculating stopping distance and stopping time

This section explains how to calculate stopping distance and stopping time with RT ToolBox3.
Calculating the stopping distance and time based on actual peripheral devices (such as hands) and the program
that will be used will provide more accurate results. For information on how to use RT ToolBox3 or how to configure
the advanced settings, refer to the RT ToolBox3 or RT ToolBox3 mini Instruction Manual.

① Configure the log settings of the oscillograph function.

Connect the robot controller to RT ToolBox3 via Ethernet, set the controller to Online mode, then
select Tool → Oscillograph. Configure the communication settings as follows:
・Method: Real time monitor
・Data No.1 to 4: Robot Information / XYZ position (FB) / Joint position (FB) / State of DSI Input

Note that Real time monitor cannot be selected when the robot controller is connected to RT ToolBox3
via USB.
If some of the data that has been received is lost, we recommend connecting the robot controller and
computer directly (not via a network hub), using a high-performance computer, or not using this
software while any other application is open.

② Create the robot log.

Open [Log Setting] from the menu bar, then check the Log the Measurement Data check box. Select
[Real time monitor] in the [Select the Interval to Log] drop down box, then choose a folder to save the
log file in. Select [Start Record] to start logging data. Select [Stop Record] to stop logging data.

7-126 Calculating stopping distance and stopping time

 7 SAFE STOPPING DISTANCE

③ Log data.
Operate the robot and start data logging.
Next, input the stop signal. Finish data logging after the robot has stopped. A simple way to input the
stop signal, is to input it from the emergency stop switch (EMS Switch) connected to the emergency
stop input of the robot controller. If a teaching pendant is connected, the emergency stop switch on
the teaching pendant can also be used. The robot can also be stopped by connecting a signal, which
acts as a trigger, to the DSI input of the Safety extension unit. When using this method, SS1 must be
assigned to the relevant DSI input in the safety input settings under Safety logic in RT ToolBox3.

Using the DSI input of the Safety extension unit to stop the robot will have an effect on
Caution the DSI filter time specified in the DSI filter settings. For further information, refer to "(c)
DSI filter configuration".
The initial value is 10 ms, therefore there will be a delay of 10 ms until the DSI input is
enabled for the input signal.

Calculating stopping distance and stopping time 7-127

7 SAFE STOPPING DISTANCE

④ Interpret the stopping distance and stopping time.

The logged data will be saved as a file in the folder you have specified. The current date and time will
be used as the file name (e.g. "LOGYYYYMMDD-hhmmss.csv"). The first three rows in the CSV file
contain information such as column titles and units of measurement. Data sampled at intervals is
contained in the rows from the fourth row onwards. Check the values in the Output column. This
number has been changed from a 32-bit binary value (assigned to the general-purpose output signal)
to a decimal value. If the output signal of "ERRRESET" is set to "2", the value will increase to four (22
= 4) when an error occurs. When the emergency stop signal is input, the robot will enter an error state.
By checking the time when bit 2 changes to "4" in the output column, you can see when the stop signal
was input.
The CSV file can be used to check the time that the robot stopped. The "Tool point speed (FB)" column
in the file shows the speed of the tool control point. Look for where the speed decreases to zero after
the stop signal has been input.
The stopping time is the time from when the stop signal is input to when the speed becomes zero. By
checking the XYZ position (FB) data or Joint position (FB) data at the times when the stop signal was
input and at the time the robot stopped, it is possible to find the stopping distance of the tool center
point within the XYZ coordinate system and the stopping distance (angle) of individual axes. Refer to
the graphs on the following page which show an example of the stopping distance of the J1 axis. If
there is a delay when the stop signal is input, consider the time that the signal was output as earlier
than what is shown in the graph.

If the device used to input the stop signal

has a delay, add the time of the delay onto
the stopping time.

7-128 Calculating stopping distance and stopping time

 8 APPENDIX

8. APPENDIX
8.1 Appendix 1: Selection Conditions for 24VDC Stabilized
Power Supply
Consider the following characteristics when selecting the stabilized power supply (prepared by machine
manufacturer).
Use a power supply that complies with CE Marking or that follows the safety standards given below.
（1） Stabilized power supply selection items
Item Selection Remarks
criteria
Output Voltage DC24V If the distance between the stabilized power supply
and the 24VDC input unit is far, select a stabilized
power supply capable of setting 24VDC or higher as
the output voltage, taking into account the effect of
voltage drop due to cables.
Voltage fluctuation ±5％ ±5% or less of 24VDC output
Ripple noise 120mV
（maximum）
Spike noise 500mV
（maximum）
Overcurrent output cutoff － Select a power supply with an overcurrent output
function cutoff function.
Output current － Refer to the maximum current consumption of the
unit in use
and calculate.
Output holding time 20ms(min) Instantaneous power failure time (AC side)

（2） Standards
Item Selection criteria
Safety Standards UL1950, CSA C22.2 No. 234 approved, IEC950 compliant
Noise Terminal Voltage FCC Class A, VCCI-Class A
High Harmonics Current IEC61000-3-2
Restrictions:

（3） Reference values for current consumption at 24 V supply voltage

Item Consumption Remarks
current
① Control power supply 0.3A
② 5mA/point
③ Input circuit 80mA When all 8 input points are used (16 points in total
due to signal duplication)
④ 2.0A/point
Output circuit
⑤ approx. 8.0A When all 4 points are used in the entire unit
When using a single stabilized power supply with the maximum input and output specifications, the total current
consumption (①+③+⑤) is approximately 8.38A.
Therefore, it is necessary to select a stabilized power supply of 24 V/200 W or more.

Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply 8-129

8 APPENDIX

8.2 Appendix 2: How to Install the Safety Extension Unit

As a metal plate to install the safety extension unit, install a metal plate of the following size or smaller.

Where to install: Studs in the lower part of the door (four locations)
Metal plate installation pitch and screw size: 188mm×90mm (M4 screws)
Metal plate installation size: 200mm×116mm or less
Installation height: 50mm or less
Installation thickness: 1.2mm to 1.6mm

Use the following steps for the installation.

1) A metal plate with a size of 200mm×116mm or less can be installed.

Prepare the metal plate as shown in the figure below (metal plate installation pitch: 188mm×90mm, M4
screws).

8-130 Appendix 2: How to Install the Safety Extension Unit

 8 APPENDIX

2) Fix the metal plate to the installation position using the M4 screws (supplied by customer).
Select a screw length so that 2.1mm or more and less than 7.0mm of the screws can be tightened in the studs
on the controller.

3) After the metal plate has been installed, fix the safety extension unit to the plate using the M5 screws (supplied
by customer).
Select a 10mm to 12mm long screw.

Appendix 2: How to Install the Safety Extension Unit 8-131

8 APPENDIX

8.3 Appendix 3: How to Install the Stabilized Power Supply for

the Safety Extension Unit
To fix the stabilized power supply for the safety extension unit, install a metal plate of the following size or smaller.
Where to install: Safety extension unit's left
Metal plate installation pitch and screw size: 170mm×140mm (M4 screws)
Metal plate installation size: 190mm×160mm or less
Installation height: 51mm or less

When installing the stabilized power supply (supplied by customer), use the following steps:

1) A metal plate with a size of 190mm×160mm or less can be installed.

Prepare the metal plate as shown in the figure below (metal plate installation pitch: 170mm×140mm, M4
screws).
* Based on the specifications of the stabilized power supply selected in 8.1 Appendix 1: Selection Conditions
for 24VDC Stabilized Power Supply, add studs or similar items to the metal plate. Additionally, ensure the
strength of the metal plate by bending the plate or in other ways if necessary.

8-132 Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit
 8 APPENDIX

2) Ensure that the height of the selected stabilized power supply with the fixed metal plate (supplied by customer)
is 51mm or less.
Caution: If the height is more than 51mm, interference with other parts in the controller may occur.

3) Fix the metal plate to the installation position using the M4 screws (supplied by customer).
Select a screw length so that 2.1mm or more and less than 7.0mm of the screws can be tightened in the studs
on the controller.

Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit 8-133
8 APPENDIX

8.4 Appendix 4: EMC installation guideline

8.4.1 Outlines
The EMC directive is coerced from January 1, 1996, and it is necessary to attach the CE mark which shows
that the product is in conformity to directive.
Since the industrial robot is the component of the automation system, it considers that the EMC directive is
not the target product of the direct. However, because it is one of the main components, introduces the
method and components of the measures for conforming the automation system to the EMC directive.
And also we are carrying out the qualification test about the conformity of the EMC directive under the environment
based on the contents of this document. However, the noise level is changed by the kind of equipment
to be used, the layout, the construction of the controlling board, the course of wiring, etc. Therefore,
please confirm by the customer eventually.

8.4.2 EMC directive

The Mitsubishi Electric industrial robot follows the European EMC directive. EMC can be broadly classified into
two categories: EMI and EMS.
(1) Emission (EMI: Electromagnetic Interference).......The capacity not to generate the disturbance noise
which has a bad influence outside.
(2) Immunity (EMS: Electromagnetic Susceptibility)....The capacity which does not malfunction for the
disturbance noise from the outside.
Each contents are shown below.
Item Name Contents
Emission Radiative noise disturbance The electromagnetic noise etc. which are emitted
(EMI) to environs.
Electrical-conduction noise disturbance The electromagnetism noise etc. which flow out
of the power-supply line.
Immunity Electrostatic discharge immunity test The noise from the electrified human body.
(EMS) Radiated, radio-frequency, The electromagnetism noise from the
electromagnetic field immunity test transceiver, the broadcasting station, etc.
susceptibility test
Electrical fast transient burst immunity test The relay noise or the electromagnetism noise
etc. which are caused in power-supply ON/OFF.
Immunity to conducted distrurbances The electromagnetism noise etc. which flow in
induced radio-frequency fields through the power source wire and the grounding
wire.
Power frequency magnetic field immunity The electromagnetism noise with a power supply
test frequency of 50/60 Hz etc.
Voltage dips, short interruptions and The noise in the variation of the source voltage of
voltage variations immunity test the power dispatching, etc.
Surge immunity test The electromagnetism noise by the thunderbolt,
etc.

8.4.3 EMC measures

There are mainly following items in the EMC measures.
(1) Store into the sealed metal board.
(2) Grounding all the conductor that have floated electrically (makes the impedance low).
(3) Wiring so that the power source wire and signal wire are separated.
(4) Use the shield cable for the cable which wired outside of the metal board.
(5) Install the noise filter.
To suppress the noise emitted out of the board, be careful of the following item.
(1) Ensure grounding of the equipment.
(2) Use the shield cable.
(3) Separate the metal board electrically. Narrows the distance/hole.
The strength of electromagnetic noise emitted to environment is changed a lot by the shielding efficiency
of cable and the distance of metal board, so it should be careful.

8-134 Appendix 4: EMC installation guideline

 8 APPENDIX

8.4.4 Component parts for EMC measures

（1） Ferrite core
The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the
cable. This has the effect in the common-mode noise. The measures against the noise are made not influential
in the quality of the signal.

Manufacturer: SEIWA ELECTRIC MFG. CO., Ltd

Type Outside dimension (mm) Applicable cable
A B C D E diameter[max]
(mm)
E04SR170730A 30.0 23.0 7.0 16.5 15.0 φ4.0-7.0

Example of installation)
Robot controller

Control panel
Safety extension unit
Ferrite core

RIO Cable

（2） Line noise filter

Install a line noise filter to AC input line.
Type: SUP-EL20-ER-6
Manufacturer: OKAYA ELECTRIC INDUSTRIES CO., LTD.

Appendix 4: EMC installation guideline 8-135

8 APPENDIX

（3） Surge Absorber

Make sure that the surge does not directly enter the AC line of the general-purpose stabilized power supply
(userprepared) supplying power to the control unit and DIO.
Select a product equivalent to or higher than the following products for the surge absorber.
Refer to the manufacturer catalog for detailed characteristics, outline and connection methods of the surge
absorber.

Type：RSPD-250-Q4
Manufacturer: OKAYA ELECTRIC INDUSTRIES CO., LTD.
Rated Voltage DC Breakdown Voltage Normal Maximum Surge current
(50/60HZ) voltage protection level discharge discharge life
current current
AC250V(1 Phase) 700V±25% 1,3kV 8/20μs 8/20μs 8/20μs-1kA
2,5kA 5kA Approximately
300 times

・Outline drawing ・Circuit drawing

8-136 Appendix 4: EMC installation guideline

May 2024 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.