Mitsubishi Electric CR800-R Instruction Manual page 76

4 SAFETY MONITORING FUNCTIONS
(b) Description of position monitoring
The enabled SLP monitoring function monitors an arm model and tool models according to predefined
monitoring settings so that the models do not go into the restricted area applied at the time.
(c) Stop position prediction function
This function predicts whether the robot enters safeguarded spaces while it is run by the interpolation
command or jog operation. If it judges that a predicted position will enter a safeguarded space, the function
stops the robot. When the robot stops near the position monitoring plane, it behaves as follows:
① When the robot is run by the interpolation command
The automatic program operation maintains the RUN state. The robot operation suspends and the
execution stops at the line of the interpolation command, but the state does not transition to STOP.
If the target position monitoring plane does not exist in the vicinity due to the monitoring mode change to
disable the target position monitoring plane, the SLP prior stop state is reset and the operation resumes.
Furthermore, when the automatic operation enters the STOP state due to a stop input or error occurrence,
the SLP prior stop state is also canceled.
･ Changing monitoring modes may resume the robot operation. Take sufficient care when
Caution
･ In the SLP prior stop state, errors are shown for "Monitoring State of the Plane" and
･ As shown in the following figure, an error may occur when a position passes near the
Current position
② When the robot is run by the jog operation
A buzzer goes off from the teaching pendant to notify that the position monitoring plane is close, and the
robot stops. If the function detects that any one of the monitoring positions has gone across the plane,
error H220 m (m is a plane number) occurs and the robot stops by turning off the servos. The position
monitoring is performed for the position command and the position feedback. The error message of error
H220m changes according to the detected position.
4-64 Safety Monitoring Functions
changing monitoring modes.
"Monitoring State of the Area" in the [Operation Check] window of RT ToolBox3. (Refer
to Fig. 4-63.)
boundary of the safeguarded space (especially during continuous path operation). If an
error occurs, set the path away from the safeguarded space or lower the speed.
Safeguarded space
An error may occur near the boundary of the safeguarded space
as the stop position is predicted in a certain cycle.
Predicted stop position