Mitsubishi CR750 Series Instruction Manual page 161

Conceptual drawings of each stop type for the execution program when interrupt conditions are established
during robot movement are shown below.
Stop Type External Override 100% (Max. Speed)
Stop type 1
Speed
(Omission)
S1 = S2
Stop type 2
Speed
( S )
Execution
Speed
complete stop
( L )
S3 = S4
 Force sense control enabled
Force sense
stop
Speed
( F )
 Force sense control disabled (Same as
Stop type)
Speed
Interrupt
Stop distance S1
Interrupt
Interrupt
Full movement
distance S3
Interrupt
Immediate stop
50 [mm/s]
50 [deg/s]
Interrupt
External Override 50%
Speed
Time
Speed
Time
Speed
Interrupt
Time
 Force sense control enabled
Speed
Time
 Force sense control disabled (Same as
Stop type)
Speed
Time
11 Language Specifications
Interrupt
Stop distance S2
Time
Interrupt
Time
Full movement
distance S4
Time
Interrupt
Immediate stop
50 [mm/s]
50 [deg/s]
Time
Interrupt
Time
Other Related Commands 11-151