Mitsubishi Electric MELFA CR800-D Series User Manual page 104

6 Coordinated control for additional axes
M_BsCoopMd
【Function】
When the coordinated control for base coordinate is effective, specify and refer to the direction to which
additional axis moves at spilne interpolation operation.
【Format】
M_BｓCoopMd = <Coordinate axis number>
<Numeric variable> = M_BsCoopMd
【Terminology】
<Coordinate axis number>
operation.
<Numeric variable>
【Reference program】
1 M_BsCoopMd = 2
2 MvSpl 1,50,100
【Explanation】
(1) When the coordinated control for base coordinate is effective, specify the additional axis direction at slpine
interpolation.
(2) The initial state immediately after turning on the power supply is 0.
(3) This value returns to 0 at the end of main program and by program reset operation.
(4) When specify the direction in which the additional axis can not move (for example, specify the X axis with
respect to the additional axis that can move in the Y axis direction), the additional axis will not move.
(5) When you refer to or set this status variable, if the coordinated control for base coordinate is disable
(MELFA Smart Plus
is not set correctly), error L3781 (MELFA Smart Plus command can not be used.) occurs.
(6) It is a status variable dedicated to mechanism 1 (Robot), and control privilege of mechanism 1 is
necessary when setting (reference is
P_BsCdCurr
【Function】
Refer to current robot base coordinate data.
【Format】
<Position variable> = P_BsCdCurr
【Terminology】
<Position variable>
【Reference program】
1 P1 = P_BsCdCurr
【Explanation】
(1) Refer to the current position at base coordinate origin of robot (mechanism 1).
(2) When you refer to or set this status variable, if the coordinated control for base coordinate is disable
(MELFA Smart Plus
is not set correctly), error L3781 (MELFA Smart Plus command can not be used.) occurs.
6-94 Base coordinate cooperative control
Specify the coordinate axis direction thet decides the additional axis
Setting range：0 to 3
0（Not assigned）,1=（X axis direction）,2=（Y axis direction）
3=（Z axis direction）
Specify the numerical variable of the assignment target.
' Assign Y axis direction to additional axis at spline interpolation operation.
' Execute the spline interpolation.
card is not installed,parameter "SMART+1" is not set
unnecessary).
Specify the position variable of the assignment target.
'Assign the current robot base coordinate data to P1.
card is not installed,parameter "SMART+1" is not set
correctly, parameter "BSSYNC"
correctly, parameter "BSSYNC"