Mitsubishi Electric MELFA CR750 Series Instruction Manual page 53

4 Safety monitoring function
width monitoring is started with the allowable torque width for Mode 2. After that, when the DSI2 signal is
turned OFF and the mode is switched to Mode 3, the allowable width is switched to the allowable torque
width for Mode 3 and the torque width monitoring is continued.
(4) Torque width monitoring
During the torque width monitoring, the function monitors the difference between the presumed torque and
torque feedback to see if it is within the allowable torque. If the torque feedback exceeds the allowable torque,
error H221n (n is a joint axis number) occurs and the robot turns the servo OFF to stop.
Safety monitoring function 4-41