Sto Function; Ss1 Function - Mitsubishi Electric MELFA CR750 Series Instruction Manual

4.3.2

STO function

(1) Overview
Emergency stop input electrically blocks the driving energy to the motor.
(2) Sequence overview
STO function is activated by the emergency stop input. When the robot is moving, STO function starts after
deceleration by SS1 function.
4.3.3

SS1 function

(1) Overview
During the robot operation, the function starts the deceleration by the emergency stop input or when an H
level error occurs. After the speed command becomes zero, the STO function is executed.
(2) Sequence overview
The operation sequence of the SS1 function is as follows. The SS1 function is activated when one of the
following situations occurs during the robot operation.
 Input the emergency stop.
 An H level error occurs.
When the SS1 function is activated, the deceleration starts at the designated deceleration speed. After the
speed command becomes zero, the brake is locked and the power supply to the servo motor is blocked.
For the value of the elapsed time and the motion angle until the power supply to the motor is blocked after
SS1 function is activated, please refer to "8 Maximum elapsed time/maximum motion angle".
4 Safety monitoring function
Safety monitoring function 4-25