Mitsubishi Electric CR800 Series, Instruction Manual

Page: 58 / 204

6 Parameter Setting
6-46 Operation Parameters
6.2.
Operation Parameters
The following list the setting items of parameters required to operate the robot at the optimal
acceleration/deceleration.
Table 6-3 List of Operation Parameter
Parameter name Explanation Reference value
Tool
coordinate system
( MEXTL )
(*1)
A parameter "MEXTL" designates a coordinate system of a tool
installed in the mechanical interface side of the robot (hand).
For example it's possible to move and revolve based on a tip of a
hand.
Defaults:
(0,0,0,0,0,0,0)
For example:
(0,0,+80,0,0,0,0)
Tool data 1 - 16
( MEXTL1 - 16 )
(*1)
I can point out the tool data for 16 as needed.
For example when changing a hand by a multi-hand and a hand
changer, it's possible to establish and change the respective tool
coordinate systems.
Defaults:
(0,0,0,0,0,0,0)
For example:
(0,0,+80,0,0,0,0)
Optimal
acceleration/
deceleration hand
data
( HANDDAT1 )
Specify hand weight and so on to make settings that allow optimal
acceleration/deceleration operations.
For example, if the hand weighs 3 kg, changing the weight setting
value from 10 kg to 3 kg makes the robot movement faster.
(Hand weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
(3,0,0,0,0,0,0)
The setting values
are different for
each robot model.
Use these values
as reference only .
Optimal
acceleration/
deceleration
workpiece data
( WRKDAT1 )
Specify workpiece weight and so on to make settings that allow
optimum acceleration/deceleration operations.
If a workpiece is grabbed via the HClose instruction, the
acceleration/d eceleration becomes slower. If a workpiece is
released via the HOpen instruction, acceleration/deceleration
becomes faster.
(Workpiece weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
(1,0,0,0,0,0,0)
The setting values
are different for
each robot model.
Use these values
as reference only.
(*1) Refer to " 8.1.1 Setting of tool length" (high speed and accuracy tracking function) or " 12.1.1 Setting of tool
length" (circular arc tracking function) about setting of a tool length.