Mitsubishi Electric MELFA CR750 Series Instruction Manual page 45

(b) Parameter SLPmAT (m = 1 to 8)
Specify whether the position monitoring plane is enabled (ON) or disabled (OFF).
Specification
OFF
ON (Inside)
ON
(Outside)
(c) Parameter SLPmMOD (n = 1 to 8)
Select the monitoring mode to be applied to the position monitoring plane from the following modes.
Multiple monitoring modes can be selected.
Monitoring modes to be selected: Mode 1, Mode 2(A), Mode 2(B), Mode 3, and Mode M
(3) Setting the monitoring positions
The monitoring position is set as a sphere around the designated position.
There are four monitoring positions (two positions on the robot arm and two user-specified positions).
Not used for position monitoring.
Used for position monitoring.
Using the relevant plane as a reference, the operable area of the robot is on the
side where the origin of the base coordinates exists.
Restricted
area
Used for position monitoring.
Using the relevant plane as a reference, the operable area of the robot is on side
where the origin of the base coordinates does not exist.
Operable
area
Description
Monitoring plane
Operable area
Monitoring plane
Restricted area
4 Safety monitoring function
Safety monitoring function 4-33