Mitsubishi Electric 3F-14C-WINE, User Manual

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Table 15-10 Selection of Revision Parameters
No. Item Description
Revised
Parameter
Minimum number of
teaching points
Vertical
6-axis
robot
Vertical
5-axis
robot
Horizo
ntal
4-axis
robot
1
Error of
joint axis
Rectifies origin data when joint axis moves or when
motor is replaced.
Specify the target axes using the check boxes.
The number of teaching points differs according to
how the axis was specified.
Origin data
1 to 6
points
1 to 5
points
1 to 4
points
2
Tool
exchange
or
modified
Rectifies attachment error when robot tool is
exchanged. In addition, rectifies tool data error when
the tool is transformed due to interference between
robot and peripheral devices.
Vertical 5-axis robot:
* Only Z element of position data is corrected.
Tool data
3 to 6
points
1 point
3 to 4
points
3
Transfer
the robot
Rectifies base data of robot position setup when the
robot is transferred to another location.
Vertical 5-axis robot:
* Only X, Y, Z elements of position data are
corrected.
Base Data
6 points
3
points
4
points
4
Exchange
the robot
When a robot is exchanged using the original tooling,
it rectifies origin data error and base data of the robot
position setup.
Attachment error is also rectified for horizontal 4-axis
robots only.
Vertical 6-axis robot:
* Origin data J1 is included in base data.
Vertical 5-axis robot:
* For base data, only the X, Y, Z elements are
Corrected.
Horizontal 4-axis robot:
* Origin data J1 and J3 are included in base data.
* Origin data J3 and J4 are included in tool data.
* Select which to be requested because tool data
and base data Z elements are not corrected at the
same time.
Base data
Origin data
Tool data
(4-axis robot
only)
(5-axis and
6-axis robot)
(4-axis robot)
10 to
11
points
7 to 8
points
7 to 8
points
5 Select all
Selects all revision parameters.
Vertical 6-axis robot:
* Origin data J1 is included in base data.
* Origin data J6 is included in tool data.
Vertical 5-axis robot:
* For tool data, only the Z element is corrected.
* For base data, only the X, Y, Z elements are
corrected.
Horizontal 4-axis robot:
* Origin data J1 and J3 are included in Base data.
* Origin data J3 and J4 are included in Tool data.
* Select which is to be requested because Z
elements of tool data and base data are not
corrected at the same time.
Origin data
Tool data
Base data
13 to
16
points
8 to 9
points
7 to 8
points