Mitsubishi Electric MELFA CR750 Series Instruction Manual page 54

4 Safety monitoring function
CAUTION
CAUTION
(5) Confirming the torque width
Set the communication setting of the oscillograph function of RT ToolBox2 as shown below to display a
graph showing the difference between the presumed torque and torque feedback (error of presumed torque,
unit: % rating).
Communication setting
Communication method
Request data selection
Fig 4-2 Graphical display of the presumed torque error
An error of the presumed torque is calculated when all of the following conditions are satisfied.
 Torque width monitoring (STR) is enabled.
 The monitoring mode is any of Mode 2, Mode 3, or Mode M.
 Robot servo is turned ON.
For setting the allowable torque width, actually move the robot and reference the presumed torque error
displayed in the graph. For the oscillograph function, refer to the separate "RT ToolBox2 / RT ToolBox2 mini
Instruction manual" supplied with the RT ToolBox2.
4-42 Safety monitoring function
When the robot servo is turned OFF, the allowable torque width monitoring is not
executed even if the monitoring mode is Mode 2, Mode 3, or Mode M.
For calculating the presumed torque, the hand/workpiece condition (parameter
HNDDATn and WRKDATn (n=0 to 8)) settings are referenced. For precise calculation,
set accurate hand/workpiece condition values. For the hand/workpiece condition, refer to
the separate "Instruction manual/Detailed explanations of functions and operations"
supplied with the robot arm.
Setting value
Real time monitor
Error of presumed torque