Mitsubishi Electric CR800-R - Page 78

4 SAFETY MONITORING FUNCTIONS
4-66 Safety Monitoring Functions
Fig. 4-55: SLP prior stop when the margin is set
SPPFMG parameter is available with software version of each device shown in the following table.
Table 4-12: Software version that supports SPPFMG parameter
Device
Compatible version
Controller
Ver. C2 or later
RT ToolBox3/RT ToolBox3 Pro
(simulation function)
Ver. 1.90U or later
When a large value (for example, a value larger than the distance between the current
position and the safeguarded space) is set in SPPFMG parameter, the robot will enter
the SLP prior stop state immediately after the robot starts moving and its movement is
restricted. Set SPPFMG parameter appropriately.
Check state variable M_SlpPreStp to see whether the robot is in the SLP prior stop state.
When the simulation function of RT ToolBox3 or RT ToolBox3 Pro is used, setting
SPPFMG parameter to a value larger than the distance between the robot position at the
start of the simulation and the safeguarded space will cause error H220m at startup of
the simulation. In this case, change the SPPFMG parameter setting or the SLP monitoring
settings.
Safeguarded
space
Initial state
When the
margin is set
SPPFMG
Caution
Caution