Slp Function (Position Monitoring Function) - Mitsubishi Electric MELFA CR750 Series Instruction Manual

4 Safety monitoring function
4.3.5

SLP function (Position monitoring function)

(1) Overview
The function defines a plane (position monitoring plane) around the robot to restrict intrusion, and monitors
the monitoring positions set for the robot do not exceed the plane. When a monitoring position approaches
the position monitoring plane during the operation, the robot stops its operation. Besides, if the monitoring
position enters a restricted area beyond the position monitoring plane, error H220m (m is a plane number)
occurs and the robot turns the servo OFF to stop.
(2) Setting the position monitoring plane
Up to eight planes can be set as the position monitoring plane.
Set each plane using the following parameters.
(a) Parameter SLPmPLN (m = 1 to 8)
Specify X, Y, and Z coordinate values [mm] of three
points (origin, position on +X axis, and position of +Y
axis direction) to set the plane.
Besides, even if a base conversion is performed, the
relative positional relationship between the robot arm
and the position monitoring plane does not change for
the position monitoring of the SLP function. Use
coordinate values in the base coordinate system for
setting the parameters.
4-32 Safety monitoring function
Position
on +X axis
Origin
Position of +Y axis
direction