Mitsubishi CRn-500 Series Instruction Manual page 37

(10) MEJAR (joint operating range)
For this parameter, set the motion range of the additional axis in order of minimum value and
maximum value. Since the 1st to 12th elements are the values set for the axes of the robot, never
change the values. The settable values are real numbers in the range of –80000.00 to 80000.00.
The default values are –80000.00 and 80000.00.
[Example]
When the motion range of the additional axis 1 (7th axis) is set for the robot of RV-20A as follows,
Minimum value
Maximum value
MEJAR = –160.00, 160.00, –90.00, 140.00, 30.00, 160.00, –160.00, 160.00, –135.00, 135.00,
–200.00, 200.00, –2000.00, 3000.00, –80000.00, 80000.00
(Set "–2000.00" to the 13th element and "3000.00" to the 14th element.)
(11) USERORG (user designated origin)
This parameter sets the origin position set when the user designated origin is set. The origin of the
additional axis set here is also reflected on the other origin setting method (mechanical stopper, jig
and ABS system). The settable value is in the range of –80000.00 to 8000.00, being a real number
in the range set at MEJAR (joint operating range).
[Example]
When the user designated origin of the additional axis 1 (7th axis) is set for the robot of RV-20A as
follows,
Origin position designated by the user 1500mm
USERORG = 0.00, 0.00, 90.00, 0.00, –90.00, 0.00, 1500.00, 0.00
(Set "1500.00" to the 7th element.)
7.Setting, Operation and Command Explanation of Robot Additional Axis
–2000mm
3000mm
(+/- value of L1(J7) axis.), (+/- value of L2(J8) axis.)
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