Mitsubishi Electric MELFA CR750 Series Instruction Manual page 46

4 Safety monitoring function
(a) Monitoring positions on the robot arm
The center of the sphere for the monitoring positions on the robot arm is specified depending on the
robot type as follows.
Monitoring position 1:
J3 axis rotation center position
Monitoring position 2:
J5 axis rotation center position
The center position cannot be changed, but the radius value can be changed in parameter SLPRDUS.
(b) User-specified monitoring positions
The user can specify two monitoring positions separately from those on the robot arm. Each of the
monitoring position is specified in parameter SLPCP1/SLPCP2.
Setting
item
X, Y, Z
Radius
For initial values of parameter SLPCP1/SLPCP2, the center position of the mechanical interface is
regarded as the monitoring position.
4-34 Safety monitoring function
RV-F series
Specify the center position of the monitoring position.
Set coordinate values [mm] of the X, Y, Z axes along the TOOL coordinate
system from the center of the mechanical interface.
Specify the radius [mm] of the sphere for the monitoring position.
RH-F series
Monitoring position 1:
J2 axis rotation center position
Monitoring position 2:
Lower end of the J3 axis
Description