Parameter Setting; Dedicated Input/Output Parameters; Operation Parameters - Mitsubishi CR750-Q Series Instruction Manual

6. Parameter Setting

This chapter explains how to set dedicated input/output signals that play the role of interface between a robot
and an external device (e.g., a Programmable Logic Controller) and parameters related to the tracking function.
Please refer to "Detailed Explanations of Functions and Operations" for how to set the parameters.
6.1.

Dedicated Input/Output Parameters

"Table 11 − 1 List of Dedicated Input/Output Parameters" lists the setting items of dedicated input/output
parameters used to operate the robot via instructions from an external device. Set the signal numbers according
to your system using the setting values in the table as reference. It is not necessary to set these parameters
if the robot operates by itself, rather than via instructions from an external device.
Input name/output name
(parameter name)
Stop/pausing
(STOP) or (STOP2)
Servo OFF/servo ON disabled
(SRVOFF)
Error reset/error occurring
(ERRRESET)
Start/operating
(START)
Servo ON/turning servo ON
(SRVON)
Operation right/operation right
enabled (IOENA)
Program reset/program
selectable
(SLOTINIT)
General output signal reset
(OUTRESET)
User specification area 1
(USRAREA)
(*1) "-1" in the Setting value column means "not set."
6.2.

Operation Parameters

"Table 11 − 2 List of Operation Parameter" lists the setting items of parameters required to operate the robot at
the optimal acceleration/deceleration.
Parameter name
Specify hand weight and so on to make settings that allow optimal
Optimal
acceleration/ acceleration/deceleration operations.
For example, if the hand weighs 3 kg, changing the weight setting
deceleration hand
value from 10 kg to 3 kg makes the robot movement faster.
data
(Hand weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
(HANDDAT1)
Specify workpiece weight and so on to make settings that allow
Optimal
acceleration/ optimum acceleration/deceleration operations.
If a workpiece is grabbed via the HClose instruction, the
deceleration
acceleration/deceleration becomes slower. If a workpiece is
workpiece data
released via the HOpen instruction, acceleration/deceleration
(WRKDAT1)
becomes faster.
(Workpiece weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
Table List of Dedicated Input/Output Parameters
6−1
Input: Stop a program
Output: Output program standby status
Input: Turn the servo off
Output: Output servo ON disabled status
Input: Cancel error status
Output: Output error status
Input: Start automatic operation
Output: Output program running status
Input: Turn the servo on
Output: Output servo on status
Input: Enable/disable operation right of external signal control
Output: Output external signal control operation enabled status
Input: Initiate a program. The program execution returns to the
first step.
Output: Output a status where program No. can be changed
Input: Reset a general output signal
Output an indication that the robot is in an area specified by a
user
Set the start number and end number
Table List of Operation Parameter
6−2
Explanation
Explanation
Dedicated Input/Output Parameters 6-25
6 Parameter Setting
Setting
Example
(*1)
10000 ,
-1
10011 ,
-1
10009 ,
-1
10006 ,
1
10010 ,
0
10005 ,
-1
10008 ,
-1
10015 ,
-1
10064,
10071
Reference value
(3,0,0,0,0,0,0)
The setting values
are different for
each robot model.
Use these values
as reference only.
(1,0,0,0,0,0,0)
The setting values
are different for
each robot model.
Use these values
as reference only.