Mitsubishi Electric CR750 Series, Instruction Manual

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6-530 Interference avoidance function
5Functions set with parameters
<2>Center position of simulated components: CAVPSA1 to 8
Table 5-32:Simulated component setting parameter (Robot arm: CAVPSA1 to 8)
Fig.5-21:XYZ direction of reference point (Jn axis) for each simulated component
[Supplement]: XYZ direction of each reference point (Jn axis)
RH-F series
When the posture is J1, J2, J4 axis = 0 degrees and the J3 axis is at the lowest end position a simulated
component’s XYZ direction matches the base coordinate system.
RV-F series
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation Factory setting
Center position of
the simulated
component
(robot arm) CAVPSA1 to 8 Real number 6 Set up the position of each simulated component as the
distance and the rotation angle from each reference
point. (Each simulated component corresponds to the
last digit (1 to 8) of the parameter name.)
1st element: Distance in X axis direction (mm)
2nd element: Distance in Y axis direction (mm)
3rd element: Distance in Z axis direction (mm)
4th element: angle of rotation on X axis (degree)
5th element: angle of rotation on Y axis (degree)
6th element: angle of rotation on Z axis (degree)
Note) Calculate the rotation angle in order of Z -> Y -> X
axis. If shape is the sphere, setting of the rotation
angle is unnecessary.
<The position of the simulated component to set up>
Sphere Cylinder
Center
Length
Radius
Endpoint
of length
Note) <1> The numbers in parentheses indicate the 1st element (registration sec-
tion) setting values of the parameters CAVKDA1 to 8 (registration sec-
tions and simulated component types).
<2> Top line: registration section
Bottom line: reference point of Jn axis
Z
X
Z
X
Z
X
Z
X
Z
X
Z
X
Z
X
Z
X
Z
X
Z
X
Z
X
<RH-F series> <RV-F series>
J1 axis reference
point (1)
J1 axis rotation
center,
No.1 arm base
Base section (0)
Installation sur-
face center
J2 axis reference point (2)
J2 axis rotation center,
No. 2 arm base
J4 axis reference point (4)
J4 axis rotation center
J3 axis reference
point (3)
J3 bottom lower
end position
Base section (0)
Installation sur-
face center
J1 axis reference point (1)
J1 axis rotation center
J2 axis reference point (2)
J2 axis rotation center
J3 axis reference point (3)
J3 axis rotation center
J4 axis reference point (4)
J4 axis rotation center
J5 axis reference point (5)
J5 axis rotation center
J6 axis reference point (6)
J6 axis rotation center