Mitsubishi CRn-500 Series Instruction Manual page 12

7.4.2 Origin setting ................................................................................................................. 28
7.4.3 Servo ON/OFF .............................................................................................................. 28
7.4.4 Jog operation................................................................................................................. 29
7.4.5 Operation of position variable ........................................................................................ 29
7.4.6 MDI (Manual Data Input) compensation of robot additional axis .................................... 30
7.4.7 Operation....................................................................................................................... 31
7.4.8 Stop............................................................................................................................... 31
• Stop ................................................................................................................................. 31
•
Emergency stop .............................................................................................................. 32
7.4.9 Error resetting................................................................................................................ 32
7.5 Explanation of commands ...................................................................................................... 33
7.5.1 Interpolation commands ................................................................................................ 33
7.5.2 Synchronous control of robot additional axis (travel axis) .............................................. 34
7.5.3 Position variables .......................................................................................................... 37
7.6 Example of System Configuration of the Robot's Additional Axis ............................................ 38
7.6.1 Travel axis system......................................................................................................... 38
8. User Mechanism Settings, Operation, and Commands ................................................................. 44
8.1 Procedure for Setting the Parameters of the User Mechanism ............................................... 44
8.2 Description of parameters....................................................................................................... 44
8.2.1 Parameter list ................................................................................................................ 45
8.2.2 Details of parameters..................................................................................................... 46
8.3 Confirmation of connection ..................................................................................................... 54
8.4 Try to use the mechanical additional axis. .............................................................................. 55
8.4.1 Turn ON the power supply............................................................................................. 55
8.4.2 Move the user mechanism............................................................................................. 56
8.4.3 Setting the Origin........................................................................................................... 57
8.4.4 Create a program .......................................................................................................... 58
8.4.5 Execute a program ........................................................................................................ 58
8.4.6 End the operation .......................................................................................................... 58
8.5 Operation of the User Mechanism .......................................................................................... 59
8.5.1 Brake release ................................................................................................................ 59
8.5.2 Origin setting ................................................................................................................. 59
8.5.3 Servo ON/OFF .............................................................................................................. 59
8.5.4 Jog operation................................................................................................................. 59
8.5.5 Operation of position variable ........................................................................................ 60
8.5.6 Operation....................................................................................................................... 60
8.5.7 Stop............................................................................................................................... 60
•
Stop ................................................................................................................................. 60
•
Emergency stop ............................................................................................................. 61