Mitsubishi Electric MELFA CR750 Series Instruction Manual page 39

CAUTION
(3) Switching the monitoring speed
The monitoring speed can be set for each monitoring mode. When the monitoring mode is switched, the
monitoring speed is switched accordingly. Set the monitoring speed in the parameter SLSSPD and
JOGSPMX.
Monitoring mode
Mode 2
Mode 3
Mode M
Besides, the Mode 2 and Mode 3 should satisfy the following conditions.
(Mode 2 monitoring speed)  (Mode 3 monitoring speed)
The following shows the situation of monitoring speed by switching the monitoring speed.
When the DSI1 signal is turned OFF and the monitoring mode is switched from Mode 1 to Mode 2, the speed
monitoring at the monitoring speed for Mode 2 is started. After that, when the DSI2 signal is turned OFF and
the monitoring mode is switched to Mode 3, the monitoring speed is switched to the monitoring speed for
Mode 3 and the speed monitoring is continued.
CAUTION
If the reaction time is changed by the parameter SFREACT, the time required for the
deceleration of the robot when the monitoring mode is switched does not change.
Therefore, if the reaction time is shorter, an error may occur because the deceleration of
the robot is not completed when the monitoring speed is switched depending on the
operation.
Monitoring speed setting parameter
SLSSPD 1st element
SLSSPD 2nd element
JOGSPMX
Switching the monitoring mode may lead to the change in motion speed of the robot.
Be careful in changing the monitoring mode.
4 Safety monitoring function
Safety monitoring function 4-27