Mitsubishi Electric MELFA CR800 Series Instruction Manual page 82

4 SAFETY MONITORING FUNCTIONS
(3) Configuring monitoring conditions
(a) Speed monitoring position
Positions subject to robot speed monitoring are defined with an arm model and tool models. For configuration
of an arm model and tool models, see 4.3 Defining 3D Models4.2.5 . Positions subject to monitoring on an
arm model are A1, A2, and the origin of the mechanical interface coordinates in the figure below. Positions
subject to monitoring on tool models are T1, T2, T3, and T4 in the figure below.
Set the speed monitoring position at the point where the maximum speed can be monitored when the robot
moves.
A2
4-72 Safety Monitoring Functions
Arm model
A1
The origin of
the mechanical
interface
The center of the
sphere models
Fig. 4-50: Speed monitoring position
Tool model
T3
T4
T1
The center of the
sphere models
T2