Mitsubishi Electric MELFA CR750 Series Instruction Manual page 41

4.3.4.2 SLS function in the "Version Combination B"
(1) Selection of speed monitoring method
Even if the software version combination of the controller and RT ToolBox2 corresponds to the "Version
Combination B", by setting the parameter SLSCOMP, the SLS function equivalent to the "Version
Combination A" can be selected. In such a case, the parameter for specifying the monitoring speed in mode
2/3 is different. In the "Version Combination B", the parameter SLSSPD should not be used, but the
parameter SLSMONSP should be used instead.
Monitoring
mode
Mode 2
Mode 3 The second element in SLSSPD
For the details of function, refer to "4.3.4.1 "SLS function in the "Version Combination A".
(2) Overview
Specifying the monitoring speed for the TCP speed of robot, this function monitors to see if the actual TCP
speed (command, feedback) does not exceed the monitoring speed. In the case TCP speed exceeds the
monitoring speed, the error H2300(detected to the speed feedback) / H2310(detected to the speed
command) occurs, and the robot stops after turning the servo off.
(3) Starting the SLS function
SLS function starts operation by enabling the function in the parameter SLSENA. Speed monitoring is
performed in all monitoring modes.
(4) Switching the monitoring speed/speed limit OVRD
Monitoring speed can be set for each monitoring mode. By switching the monitoring mode, in accordance
with the mode change, monitoring speed is also switched. Monitoring speed is set to the parameter
SLSMONSP, JOGSPMX.
Monitoring mode
Mode 1
Mode 2
Mode 3
Mode M
In addition, please note that the monitoring speed settings for mode 1, mode 2 and mode 3 should satisfy the
following condition.
(Monitoring Speed for mode 1)
For restricting the motion speed in accordance with the monitoring mode, set the speed limit OVRD.
When the speed limit function is enabled, speed limit OVRD has an effect on the operation speed of robot as
shown in the following equation.
Robot operation speed = (Commanded speed in the program, etc.)x(Speed Limit OVRD[%])/100
Specification of the monitoring speed
Version Combination A
The first element in SLSSPD
Parameter for setting the monitoring speed
The first element in SLSMONSP
The second element in SLSMONSP
The third element in SLSMONSP
JOGSPMX

(Monitoring Speed for mode 2)
Version Combination B
The second element in SLSMONSP
The third element in SLSMONSP

(Monitoring Speed for mode 3)
Safety monitoring function 4-29
4 Safety monitoring function