Mitsubishi Electronics CR751-D ユーザーズマニュアル
4-133
List of parameters
4Software
4.2 List of parameters
Show the main parameter in the
.
Table 4-2 ： List of parameters
Parameter
Details
Standard tool coordinates.
MEXTL
Set the default value for the tool data.
Unit: mm or deg.
Unit: mm or deg.
Standard base coordinates
MEXBS
Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
Unit: mm or deg.
XYZ operation range
MEPAR
Designate the overrun limit value for the world coordinate system.
JOINT operation range
MEJAR
Set the overrun limit value for each joint axis.
Free plane limit
This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.
SFC1P
:
SFC8P
:
SFC8P
Eight types of free plane limits can be set in SFC1P to SFC8P.
There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC1ME
:
SFC8ME
:
SFC8ME
Designate which mechanism to use eight types of set free plane limits.
The mechanism No. to use is set with 1 to 3.
The mechanism No. to use is set with 1 to 3.
SFC1AT
:
SFC8AT
:
SFC8AT
Set the validity of the eight types of set free plane limits.
(Valid 1/Valid 2/invalid = 1/-1/0)
(Valid 1/Valid 2/invalid = 1/-1/0)
User-defined area
An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to 32 types of area can be designated.
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to 32 types of area can be designated.
AREA1CS
:
AREA32CS
:
AREA32CS
Specify the coordinate system of the user definition area *.
0: Base coordinate system (conventional compatibility)
1: Robot coordinate system
0: Base coordinate system (conventional compatibility)
1: Robot coordinate system
AREA1P1
:
AREA32P1
:
AREA32P1
Designated the 1st point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1P2
:
AREA32P2
:
AREA32P2
Designated the 2nd point of the area.
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
(L1 and L2 are the additional axes.)
AREA1ME
:
AREA32ME
:
AREA32ME
Designate which mechanism to use the 32 types of set area.
The mechanism No. to use is set with 1 to 3.
The mechanism No. to use is set with 1 to 3.
AREA1AT
:
AREA32AT
:
AREA32AT
Designate the area check type.
(Invalid/zone/interference = 0/1/2)
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
(Invalid/zone/interference = 0/1/2)
Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
Automatic return setting
RETPATH
Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
after an interruption.
Buzzer ON/OFF
BZR
Designate whether to the turn buzzer ON or OFF.
Jog setting
JOGJSP
Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
(Set dimension H/L amount, max. override.)
JOGPSP
Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
(Set dimension H/L amount, max. override.)
Jog speed limit value
JOGSPMX
Limit the operation speed during the teaching mode. Max. 250[mm/s]
Hand type
HANDTYPE
Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
Stop input B contact desig
-
nation
INB
Change the dedicated input (stop) to either of normal open or normal close.