Mitsubishi Electric CR800-R Instruction Manual page 79

(d) When intrusion into an SLP restricted area is detected
Intrusion of one of the following items into an SLP restricted area causes error H220* (SLP robot position
error) and SS1 stops the robot.
(i) Position command (Whole arm and tools)
(ii) Position FB (Whole arm and tools)
Robot position
ロボット位置
Enabled
有効
SLP_指令
SLP_ command
Disabled
無効
Enabled 有効
SLP_監視
SLP_ monitoring
無効
Disabled
SLP_エラー
エラー発生
SLP_ error Error occurred
No error エラー無し
SS1_指令
SS1_ command 有効
Enabled
Disabled 無効
Fig. 4-56: When intrusion into an SLP restricted area is detected
(e) When the robot is run by the jog operation
A buzzer goes off from the teaching pendant to notify that a safety monitoring plane and safety monitoring
area are close, and the robot stops. If the function detects that any one of the monitoring positions has gone
across the plane, error H220* occurs and the robot stops by turning off the servos.
Caution
Caution
SLP
SLP 監視
monitoring
領域
area
The function to stop the movement near the position monitoring plane does not work for
the spline interpolation command (MvSpl, EMvSpl commands) or the real-time external
control (Mxt command).
When no errors are found, if the brake release operation allows the robot to go across
the position monitoring plane, error H220m occurs and the brake is applied at the same
time. While an error is occurring, the brake is not applied even if another error occurs
while the brake is released.
4 SAFETY MONITORING FUNCTIONS
SLP
STO/SS1
Safety Monitoring Functions 4-67