Mitsubishi Electric MELFA CR750 Series Instruction Manual page 42

4 Safety monitoring function
Speed limit override is set to the parameter SLSLMTOV.
Monitoring mode
Mode 1
Mode 2
Mode 3
In addition, please note that the following condition must be satisfied for speed limit OVRD settings in mode 1,
mode 2 and mode 3.
(Speed limit OVRD in mode 1)
The following chart shows the behavior of monitoring speed and speed limit OVRD dependent on transition
of monitoring mode.
In the state monitoring mode is selected as mode1, if the DSI1 signal is turned off, then mode 2 speed limit
OVRD is applied. After the reaction time is elapsed, if the mode is switched to mode 2, then the speed
monitoring operation is performed with the mode 2 monitoring speed. After then, if the DSI2 signal is turned
off, mode 3 speed limit OVRD is applied, and when the mode is switched to mode 3, the monitoring speed is
switched to the mode 3 monitoring speed and speed monitoring operation continues.
CAUTION
CAUTION
4-30 Safety monitoring function
Parameters for setting the speed limit
OVRD
The first element in SLSLMTOV
The second element in SLSLMTOV
The third element in SLSLMTOV

(Speed limit OVRD in mode 2)
Even if the reaction time is changed by setting SFREACT, the time required for
deceleration of robot operation speed when the monitoring mode is switched does not
change. Therefore, if the reaction time setting is too short, in some motion patterns,
because the deceleration of robot may not be completed when the monitoring speed is
changed, error may occur.
Switching monitoring mode may cause the change of robot operation speed.
Be careful in changing the monitoring mode.

(Speed limit OVRD in mode 3)