Mitsubishi Electric MELFA CR800 Series Instruction Manual page 89

Robot position
ロボット位置
Predicted position
予測位置
Actual position
実際位置
Enabled
有効
SLP_指令
SLP_ command
Disabled
無効
Enabled
有効
SLP_監視
SLP_ monitoring
Disabled
無効
SLP_ｴﾗｰ
Error
エラー
SLP_ error
No error
エラー無し
SLP prior stop Enabled
SLP事前停止 有効
Disabled
無効
Caution
③ When error H220m occurs in the SLP prior stop state
Depending on the monitoring position settings or how the robot is moving, a monitoring position may
enter a safeguarded space in the SLP prior stop state, causing error H220m. Setting a margin
between the predicted stop position and the safeguarded space prevents error H220m from occurring.
Use SPPFMG parameter to set the margin.
Table 4-10: Margin between the predicted stop position and the safeguarded space
Parameter name
Function
What parameter settings
means
Setting range
Default
When the margin is set using SPPFMG parameter, the robot will stop before entering the safeguarded
space (SLP prior stop) according to the setting value. A monitoring position will not enter the safeguarded
space and thus error H220m will not occur.
SLP
SLP 監視
monitoring
領域
area
Fig. 4-57: Stop position prediction function
The function to stop the movement near the position monitoring plane works for operation
commands concerning the interpolation command or the jog operation. The function does
not work for correction commands of the compliance control, force sense control, or
tracking function.
Therefore, stopping operation commands near the position monitoring plane while these
functions are running may not prevent the robot from reaching the position monitoring
plane due to correction commands, causing an error.
Item
SPPFMG
Set a margin between the predicted stop position and the
safeguarded space to prevent error H220m from occurring in the SLP
prior stop state.
Margin (distance) between the predicted stop position and the
safeguarded space
0.00 to 1000.00 (unit: mm)
0.00
4 SAFETY MONITORING FUNCTIONS
SLP
Description
Safety Monitoring Functions 4-79