Mitsubishi Electric CR800-R - Page 71

4 SAFETY MONITORING FUNCTIONS
Safety Monitoring Functions 4-59
(b) Monitoring speed limits
There are two modes available for configuration of the SLS monitoring speeds: Simple Mode and Detail Mode.
Detail Mode enables detailed configuration of allowable speeds. Besides synthesized speeds, it allows
monitoring of speeds of X, Y, Z components and joint angular speeds.
Table 4-10: Items available for monitoring in each SLS mode
Monitoring items
Configuration
mode
Setting range
Simple
Detail
Orthogonal
speed limit
Arm model
Tool model
Mechanical I/F
composite
speed
✓ ✓
0 mm/s to 100000 mm/s
(0 to 250 mm/s for
SLSM)
+X speed
✓
-X speed
✓
+Y speed
✓
-Y speed
✓
+Z speed
✓
-Z speed
✓
Joint speed limit
Joint axes
J1 to J6
J1 speed
✓
0% to 100%
(Configure a ratio to the
maximum speed.)
J2 speed
✓
J3 speed
✓
J4 speed
✓
J5 speed
✓
J6 speed
✓
Additional axis
J7 to J8
J7 speed
✓
J8 speed
✓
From Workspace of RT ToolBox3, open the Speed screen by selecting [Online] -> [Parameter] -> [Safety
Parameter] -> [Safety option] -> [SLS] -> [Speed] and configure the speed limits.
Fig. 4-48: Simple mode of monitoring speed limits