Mitsubishi Electric MELFA CR800 Series Instruction Manual page 94

4 SAFETY MONITORING FUNCTIONS
(c) Safety monitoring area
This enables configuring safety monitoring areas. Definition of up to eight areas is supported.
① Area Setting
Definition of up to eight areas is supported. Select a monitoring area (Area 1 to Area 8) to be changed
or edited from the pull-down menu.
② Area Monitoring
This sets the area monitoring to Enable or Disable. Only the areas set to Enable are monitored.
③ Safeguarded Space
This specifies whether the safeguarded area (into which the robot cannot intrude) is inside or outside
the area.
④ Monitoring Position
This enables selecting a monitoring position of the robot subject to position monitoring.
⑤ Monitoring Function To Apply the Area
This enables selecting monitoring functions (SLP1, SLP2, SLP3, SLPM) to which the monitoring area is
applied. Multiple functions can be selected.
⑥ Area Definition
This configures the monitoring area.
As shown in the figure in the rignt,
the area is defined as a cuboid
parallel to a coordinate system
formed from two points diagonal to
each other. In the same way as a
plane area,
coordinates of the diagonal points in
the base coordinate system.
The area is defined in the base
coordinate system. Therefore, the
base conversion does not change
the relative position of the robot to
the position monitoring plane.
4-84 Safety Monitoring Functions
Fig. 4-64: Safety monitoring area
configure the
X
Z
Diagonal point 2
（X2,Y2,Z2）
Fig. 4-65: Area Definition
Diagonal point 1
（X1,Y1,Z1）
Y