Chapter 1 Overview; Machine Control Overview - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

1
OVERVIEW
1.1

Machine Control Overview

• Machine control is the controlling of a simplified robot (link configuration) with a Motion CPU.
• Positioning control
• Motion SFC program
Machine control
(Controlling a simplified robot (machine) with these functions)
• Coordinate transformation
• 3D interpolation control
• Machine parameter
• The specified positioning coordinates (X, Y, Z, A, B, C, FL1) are converted by a coordinate transformation machine library
specific to the machine type, which outputs the coordinates to each servo amplifier that makes up the robot.
Cartesian space coordinates(X, Y, Z, A, B, C, FL1)
Coordinate transformation machine library
Coordinate transformation processing
Joint axis coordinates(J1, J2, J3, J4, J5, J6)
• Various types of articulated robots can be controlled by installing a machine library (add-on library) that matches the robot
configuration.
Motion CPU
Machine library
Add-on module(2-axis vertical articulated robot)
Zw
Joint axis 2
(JNT2)
Yw
Joint axis 1
(JNT1)
Xw
World coordinate
system
Install
Add-on module(3-axis vertical articulated robot)
Zw
Control point
Xw
World coordinate
system
Joint axis 2
(JNT2)
Control point
Bw
Joint axis 3
Yw
(JNT3)
1.1 Machine Control Overview
1
Joint axis 1
(JNT1)
1 OVERVIEW
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