Mitsubishi Electric MELFA CR800 Series Instruction Manual page 83

(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.
Tab. 4-9: Items available for monitoring in each SLS mode
Orthogonal
speed limit
Joint speed limit
From Workspace of RT ToolBox3, open the Speed screen by selecting [Online] -> [Parameter] -> [Safety
Parameter] -> [Safety option] -> [SLS] -> [Speed] and configure the speed limits.
Monitoring items
Arm model composite
speed
+X speed
Tool model
-X speed
+Y speed
Mechanical I/F
-Y speed
+Z speed
-Z speed
Joint axes J1 speed
J1 to J6
J2 speed
J3 speed
J4 speed
J5 speed
J6 speed
Additional axis J7 speed
J7 to J8
J8 speed
Fig. 4-51: Simple mode of monitoring speed limits
4 SAFETY MONITORING FUNCTIONS
Configuration Setting range
mode
Simple Detail
0 mm/s to 100000 mm/s
✓ ✓
(0 to 250 mm/s for
SLSM)
✓
✓
✓
✓
✓
✓
0% to 100%
✓
(Configure a ratio to the
✓
maximum speed.)
✓
✓
✓
✓
✓
✓
Safety Monitoring Functions 4-73