Specification - Mitsubishi Electric MELFA CR800-D Series User Manual

6 Coordinated control for additional axes

6.3.3 Specification

(1) Basic specification
Basic function is below.
Item
Usable robot
Usable robot language
Attachment Usable
of workpiece mechanisms
coordinate
Attach method
Attach position
Workpiece move
Follow the workpiece
Movement area check
at the following of the workpiece.
6-98 Additional axis tracking
Table 6-9 Basic specification of additional axis tracking
Vertical Multiple-joint roobts, Horizontal multiple-joint robots
MELFA-BASIC VI
Status variable

Variable
name
M_AxTrkWkNo
P_WkCalib
P_TrkPAcl
P_TrkPDcl
P_TrkBase
P_TrkTarget
Command

Command
name
Trk
J1/J2/J3 axis of user mechanisms.
For each workpiece number,
attached.
Parameter "WK1SYNC" to "WK8SYNC"

Setting of mounting position and posture is below.
Status variable "P_WkCalib"

Parameter "WK1CALIB"to "WK8CALIB"

In the case of user mechanisms, it is possible to move workpiece.
* User mechanisms
In the case of workpiece coordinate following control, the movement
area at command execution is not checked.
Specification
Explanation
Workpiece number used by additional
axis tracking.
Offset amount of axis to which workpiece
coordinate attached.
Additional axis tracking
acceadjustment coefficient.
Additional axis tracking
acceadjustment coefficient.
Workpiece reference position used by
additional axis tracking.
Workpiece current position used by
additional axis tracking.
Explanation
Enable additional axis tracking.
set the axis to which workpiece coordinate
cannot be used.
Page
6-106
6-107
acceleration 6-108
deceleration 6-108
6-109
6-110
Page
6-112