Mitsubishi CRn-500 Series Instruction Manual page 50

7.Setting, Operation and Command Explanation of Robot Additional Axis
[Example] Circular pallet
When the circular pallet function (MELFA-BASIC Ⅳ only) is used, the position data on the calculated
circular pallet becomes the data for which the position of the additional axis is taken into
consideration as shown with the following example.
DEF PLT 1, P1, P2, P3, , 7, 1, 3
PLT 1,1 = (200,500,400,0,0,0,0,1000)
PLT 1,2 = (200,300+200 ∗ sqrt(3)/2 ,600,0,0,0,0,800+200 ∗ sqrt(3)/2)
PLT 1,3 = (200,400,400+400 ∗ sqrt(3)/2 ,0,0,0,0,900)
PLT 1,4 = (200,300,800,0,0,0,0,800)
In order to make this function valid, it is necessary to set "Table 7.5.4 Parameter list of synchronous
control".
Parameter
name
AXSYNC
AXDIR
[Example]
The parameter AXDIR is "0.0, 0.0, -90.0" in the case shown above.
36
Table 7.5.4 Parameter list of synchronous control
Range of
Content settable
value
Additional axis
synchronous 0, 7, 8
control axis
Synchronous
Real
direction of
number
additional axis
Travel axis + direction
Y + direction
Fig. 7.5.3 Robot X axis direction and travel axis + direction
PLT 1, 2
PLT 1, 1
Default value
Among the robot additional axes, the
synchronous control axis is set. If any
0
other axis except 7th and 8th axes is
set, the function becomes invalid.
Conversion from the coordinate
system in which the travel axis +
direction is used as X axis to the
robot coordinate. From the 1st
0.0, 0.0, 0.0
element, it is shown around X axis, Y
axis and Z axis. As the default value,
the robot X + direction matches the
travel axis + direction.
X + direction
Robot (RV-20A)
PLT 1, 4
PLT 1, 3
Explanation