Mitsubishi Electric MELFA CR750 Series Instruction Manual page 64

5 Parameters
(5) Torque width monitoring setting screen
Table 5-6 Safety monitoring function parameters in the torque width monitoring setting screen
Parameter
Parameter
name
STRTRQM Allowable torque width applied
when the monitoring mode is
Mode M
STRTRQ2 Allowable torque width applied
when the monitoring mode is
Mode 2
STRTRQ3 Allowable torque width applied
when the monitoring mode is
Mode 3
SFREACT Reaction time for monitoring
mode change
5-52 Safety monitoring function parameters
Description
Specify the allowable torque width applied in the corresponding
monitoring mode for each joint axis.
 The difference between the presumed torque calculated
based on the robot movement and the actual torque feedback
is monitored. The torque width monitoring error occurs when
the setting of this parameter is exceeded. Therefore, the
smaller the setting value is, the more likely the error occurs.
Use the oscillograph function of RT ToolBox2 to monitor the
error of the presumed torque, and set an appropriate value.
Setting range: 0 to 300
Unit: % rating
Specify the time after the DSI signal changes until the
monitoring mode and the allowable torque width are switched
to new ones.
 Same as "SFREACT" in the speed monitoring setting screen.
Setting range: 0 to 10000
Unit: ms
Factory default setting
300 for all axes
Differs according to
the model.