Mitsubishi Electric MELFA CR750 Series Instruction Manual page 61

(3) Position monitoring (position) setting screen
* When a checkbox in the "Display monitoring positions" section is selected, a sphere indicating the monitoring
position is displayed in the graphics display section, and its positional relationship with the robot and the sphere
size can be checked. Note that the graphics display section is not linked with the 3D monitor.
Table 5-4 Safety monitoring function parameters in the position monitoring (position) setting screen
Parameter
Parameter
name
SLPRDUS Radius of robot monitoring
position
SLPCP1 User-specified monitoring
position 1
SLPCP2 User-specified monitoring
position 2
Description
Specify the radius of the sphere to be used for monitoring position
of the robot arm.
The center of the sphere is as shown in the table below.
Monitoring RV-F/FL series
position RV-FJ series
Monitoring J3 axis rotation
position 1 center
Monitoring J5 axis rotation
position 2 center
 The minimum setting value differs according to the model. When
the value lower than the minimum value is set, the setting is
changed to the minimum value at power-ON.
Setting range: Minimum value for each model to 3276.7
Unit: mm (The two digits after the decimal points are significant.)
Set the monitoring position (coordinate values and radius) to be
used for monitoring position.
 X, Y, Z
Specify the coordinate values of the center position of the sphere
placed at the monitoring position.
Specify the values on the X, Y, and Z axes of the TOOL
coordinate system that has its origin on the mechanical interface.
 Radius
Specify the radius of the sphere placed at the monitoring position.
Setting range
X, Y, Z: -32767.0 to 32767.0
Radius: 0.0 to 3276.7
Unit: mm (The two digits after the decimal points are significant.)
RH-FH series
RH-FHR series
J2 axis rotation
center
Lower end of the ball
screw
Safety monitoring function parameters 5-49
5 Parameters
Factory default setting
Monitoring position 1:
Minimum value
Monitoring position 2:
Minimum value
(The minimum value
differs according to
the model.)
X, Y, Z: (0.0, 0.0, 0.0)
Radius: 0.0