Mitsubishi Electric MELFA CR750 Series Instruction Manual page 43

(5) Speed Monitoring
(a) Monitoring speed command/speed feedback
During speed monitoring, this function monitors to see if the speed command/speed feedback does not
exceed the monitoring speed. If the function detects the speed command or speed feedback exceeding
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) Operation speed restriction
While monitoring speed, robot operation speed during execution of interpolation commands/jog
operation is restricted by speed limit OVRD. However, in the case like the speed after being applied the
speed limit OVRD exceeds the monitoring speed, error H2300(detected to speed feedback) /
H2310(detected to speed command) occurs and the robot turns off the servo to stop. In such a case,
please revise the setting values for monitoring speed/speed limit OVRD or the speed value specified on
the robot (Spd command, override, etc.) so that the errors can be avoided.
CAUTION
CAUTION
While the robot servo is turned OFF, the speed monitoring is not performed.
Speed restriction by the speed limit OVRD is effective on the operation speed set by
interpolation commands/jog operation. This restriction has no effect on the corrected
speed generated by the compliance control, force sense control, or tracking function.
For this reason, during execution of these functions, an error may occur depending on
the settings of the operation contents or monitoring speed.
Speed limit OVRD has no effect on the speed command under real-time external control
(Mxt control). Correct the command position according to the monitoring speed on the
command position generating side.
4 Safety monitoring function
Safety monitoring function 4-31