Safety Monitoring Function; Safety Monitoring Function Overview; Startup; Connecting Rt Toolbox2 - Mitsubishi Electric MELFA CR750 Series Instruction Manual

4 Safety monitoring function

4 Safety monitoring function

4.1 Safety monitoring function overview

The following functions are available on the robot safety option.
(1) STO function(Safe torque off)
The function electrically blocks the driving energy to the motor of a robot arm.
(2) SS1 function(Safe stop 1)
The function controls and decelerates the motor speed of a robot. The STO function is executed when the
stop is conformed.
(3) SLS function(Safe limited speed):Speed monitoring function
The function monitors whether the TCP speed does not exceed the monitoring speed. When it exceeds the
monitoring speed, the robot generates an error and turns the servo OFF to stop.
(4) SLP function(Safe limited position):Position monitoring function
The function monitors whether the fixed position does not exceed the position monitoring plane. When it
exceeds the position monitoring plane, the robot generates an error and turns the servo OFF to stop.
(5) STR function(Safe torque range):Torque width monitoring
The function monitors whether the torque feedback does not exceed the allowable torque width. When it
exceeds the allowable torque width, the robot generates an error and turns the servo OFF to stop.
(6) Duplex input monitoring function
The system monitors whether the status of the duplex input signals is consistent. The function monitors the
DSI signals, DSI1 and DSI2. When the function detects difference, the robot generates an error and turns the
servo OFF to stop.

4.2 Startup

The safety monitoring function is disabled in the factory default setting. To use the safety monitoring function,
refer to the following explanation and enable the function. Separately prepare RT ToolBox2 / RT ToolBox2 mini
version 3.30G or later, which is required to enable the safety monitoring function.
4.2.1

Connecting RT ToolBox2

For setting the safety monitoring function, connect RT ToolBox2 to the controller and perform setting online. For
information on how to connect RT ToolBox2 to the controller, refer to the separate "RT ToolBox2 / RT ToolBox2
mini Instruction manual".
4.2.2

Password setting

CAUTION
A password is set for the parameters related to the safety monitoring function to prevent unintended change of
the setting. To use the safety monitoring function, change the factory default password to new one at first.
(To confirm the parameter setting, the password is not required.)
4-16 Safety monitoring function overview
The safety monitoring function can not be used unless changing the password from the
factory default setting