Tool Model - Mitsubishi Electric MELFA CR800 Series Instruction Manual

4 SAFETY MONITORING FUNCTIONS

Tool model

4.3.3
The shape of a robot tool is defined with up to four sphere models. Resize the model as necessary.
(1) Changing monitoring models
To change monitoring models, open the Robot Model screen from Workspace by selecting [Online] -> [Parameter]
-> [Safety Parameter] -> [Safety option] -> [Robot Model].
In Pos. 1 to Pos. 4 of Tool model, enter the coordinates of the central point and the radius of a sphere model.
They need configuring in the mechanical interface coordinate system.
<Mechanical interface coordinate system>
A coordinate system with its origin at the center of a flange is called the mechanical interface coordinate system.
For details on the mechanical interface coordinate system, refer to the separate "Instruction Manual/Detailed
Explanations of Functions and Operations" ("About tool coordinate system [mechanical interface coordinate
system]" and "Standard Tool Coordinates").
Caution
4-44 Defining 3D Models
When using the safely-limited speed function (SLS), set the center point of the tool
monitoring model to the position where the maximum speed is reached when the robot
moves.