Mitsubishi MELFA CR1D, Инструкция по эксплуатации

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5-343
Movement parameter
5Functions set with parameters
5 Functions set with parameters
This controller has various parameters listed in Table 5-2 . It is possible to change various functions and
default settings by changing the parameter settings.
For the parameters regarding dedicated I/O signals, refer to Page 416, "6.3 Dedicated input/output" . After
changing the parameters, make sure to turn the robot controller's power OFF and then turn ON.
Parameter settings will not be in effect until the power is turned on again. For detailed operating method for
parameters, refer to
Page 74, "3.14 Operation of maintenance screen" .
When changing parameters, check thoroughly the function and setting values first.
Otherwise, the robot may move unexpectedly, which could result in personal injury or
property damage.
5.1 Movement parameter
These parameters set the movement range, coordinate system and the items pertaining to the hand of the
robot.
Table 5-1:List Movement parameter
No. Classification Content Reference
1 Movement parameter These parameters set the movement range, coordinate system and the items
pertaining to the hand of the robot. Page 343
2 Signal parameter These parameters set the items pertaining to signals. Page 351
3 Operation parameter These parameters set the items pertaining to the operations of the controller, T/
B and so forth. Page 356
4 Command parameter These parameters set the items pertaining to the robot language. Page 359
5 Communication parameter These parameters set the items pertaining to communications. Page 363
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation Factory setting
Joint movement
range MEJAR Real value 16 Set the overrun limit value for the joint coordinate system.
Sets the movement range for each axis. Expanding of the move-
ment range is not recommended, since there is possibility that the
robot may strike the mechanical stopper.
Set the minus and plus directions. (-J1,+J1,-J2,+J2,......-J8,+J8)
Unit:deg
Setting value for
each mechanism
XYZ movement
range MEPAR Real value 6 Set the overrun limit value for the XYZ coordinate system.
The movement range of the robot will be limited based on XYZ
coordinate system. This can be used to prevent the robot from
striking peripheral devices during manual operation when the robot
is installed within the device.
Set the minus and plus directions. (-X,+X,-Y,+Y,-Z,+Z) Unit:mm
(-X,+X,-Y,+Y,-
Z,+Z)=
-10000,10000,
-10000,10000,
-10000,10000
Standard tool coor-
dinates
Refer to
"5.6Standard Tool
Coordinates"
.
MEXTL Real value 6 Initial values will be set for the hand tip (control point) and the
mechanical interface (hand mounting surface). The factory default
setting is set to the mechanical interface as the control point.
Change this value if a hand is installed and the control point needs
to be changed to the hand tip.
(This will allow posture control at the hand tip for XYZ or tool jog
operation.)
(X, Y, Z, A, B, C) Unit: mm, ABC deg.
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
Tool coordinate 1
Refer to
"M_Tool"
MEXTL1 Real value 6 If the M_Tool variable is substituted by 1, the tool data can be
switched using this parameter value.
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
Tool coordinate 2
Refer to
"M_Tool"
MEXTL2 Real value 6 If the M_Tool variable is substituted by 2, the tool data can be
switched using this parameter value.
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
Tool coordinate 3
Refer to
"M_Tool"
MEXTL3 Real value 6 If the M_Tool variable is substituted by 3, the tool data can be
switched using this parameter value.
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
CAUTION