Mitsubishi Electric 3F-14C-WINE, User Manual, Page: 463 / 646

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18.9. Tool automatic calculation
With “Tool automatic calculation”, the tool length is calculated automatically by teaching a same position by 3 to 8
points to the robot with an actual tool mounted, setting up the value of a tool parameter (MEXTL).
For details on supported models and robot controllers, refer to "Table 18-15 Supported Robot Controllers and
Models" .
Figure 18-71 Summary the “Tool automatic calculation”
18.9.1. Specifications
The robot models and robot controller versions with which the “Tool automatic calculation” can be used are as
follows.
Table 18-15 Supported Robot Controllers and Models
No. Robot model
CR800 series
Robot Controller
CR750/700 series
Robot Controller
CRn-500 series
Robot Controller
1 Vertical 6-axis robot All versions
Version R3e/S3e
or later
Not used 2 Vertical 5-axis robot not use not use
3 Horizontal 4-axis robot All versions
Version R3e/S3e
or later
18.9.2. Starting
The “Tool automatic calculation” is used in a state with the robot controller connected.
When the robot model and robot controller to which it is connected support this function, [Tool automatic
calculation] is displayed under [Tool] in the project tree. Double-click [Online] -> [Tool] -> [Tool automatic
calculation] in the project tree.
Teach the same position by 3 to 8 points to a robot with a tool mounted