Mitsubishi Electric MELFA CR750 Series Instruction Manual page 40

4 Safety monitoring function
(4) Speed monitoring
(a) Monitoring the speed command / speed feedback
The function monitors the speed command / speed feedback to see if it does not exceed the monitoring
speed during the speed monitoring. If the function detects the speed command or speed feedback
exceeds the monitoring speed, error H2300 (detected by the speed feedback) or H2310 (detected by the
speed command) occurs and the robot turns the servo OFF to stop.
CAUTION
(b) Restricting the operation speed
The function restricts the speed of the movement performed by the interpolation command or the jog
operation so that the TCP speed may not exceed the monitoring speed during the speed monitoring.
Even if the speed exceeding the monitoring speed is specified by the Spd command, in the override
setting, or as the jog feed speed, the robot moves so that the speed may not exceed the monitoring
speed.
CAUTION
CAUTION
4-28 Safety monitoring function
While the robot servo is turned OFF, the speed monitoring is not performed even if the
monitoring mode is Mode 2, Mode 3, or Mode M.
Restriction on the commanded speed is effective for the movement speed set by the
interpolation command or for the jog operation. The restriction is not effective for the
correction speed generated by the compliance control, force sense control, or tracking
function.
Therefore, when the speed monitoring is started while these functions are executed, an
error may occur depending on the settings of the operation content or monitoring speed.
The movement speed under real-time external control (Mxt command) is not restricted.
Correct the commanded position according to the monitoring speed on the commanded
position generation side.