Enable/Disable; Parameter Setting - Mitsubishi Electric MELFA CR750 Series Instruction Manual

4.2.3

Enable/disable

The safety monitoring function is disabled in the factory default setting. To use the safety monitoring function,
change the setting of the target parameter to "Enable" on the RT ToolBox2 editing screen for parameters related
to the safety monitoring function. Target parameters are as follows.
Safety monitoring function
Speed monitoring (SLS function)
Position monitoring (SLP function)
Torque width monitoring (STR function)
DSI signal
CAUTION
CAUTION
4.2.4

Parameter setting

Set the parameters related to the safety monitor function on the RT ToolBox2 editing screen for parameters
related to the safety monitoring function.
(1) Editing screen for parameters related to the safety monitoring function
The editing screen for parameters related to the safety mo nitoring function is displayed by selecting
[Online]→[Parameter]→[Movement parameter]→[Safety] of the workspace. The setting of the parameters
related to the safety monitoring function can be confirmed/changed on this screen.
Parameters are classified under five tabs as shown below. When a parameter setting is changed and the tab
change is attempted before writing the parameter to the controller, the dialog for attracting attention appears.
Enable/disable setting (*)
Target parameter name
To enable the safety monitoring function, connect the extended safety unit to the
CNUSR2 connector of the controller in advance. If the safety monitoring function is
enabled without connecting the extended safety unit, error H2260 (No extended safety
unit) occurs.
When the origin of the robot is not set, the safety monitoring function cannot be activated
even when the function is enabled. Set the origin of the robot before enabling the safety
monitoring function.
SLSENA
SLPENA
STRENA
DSINO
Position monitoring (plane) setting
4 Safety monitoring function
Startup 4-19