Mitsubishi Electric MELFA CR800-D Series User Manual page 109

(2) Restrictions
Restriction of this function is below.
Restrictions
Interporation processing
Singular point passage
Optimum acceleration / deceleration
Combined usewith
other functions
Change setting of work
Usable user mechanisms
Table 6-10 Restrictions of additional axis tracking
Mov, Mvs, Mvr, Mvr2, Mvr3, Mvc command is available.
Mva command, Ex-Tcontrol interpolation, Spline/Ex-T spline
interpolation is unavailable.
Unavailable.
Optimum acceleration / decelerationis unavailable.
* If the
moves by a fixed acceleration / deceleration.
Tracking function Cannot be used together. Switch with the parameter "TRMODE".
(Tracking using TRMODE = 1: Conveyor tracking
external encoder) TRMODE = 2: Additional axis tracking
Additional axis Cannot be used together. Additional axis
synchronization takes precedence.
control When power is ON, error L2661 (Cannot be used (axis trk)) is
occurred.
If you try to change the mounting position of workpiece that is
being tracked with the parameter "WKnCALIB" or the state
variable P_WkCalib while additional axis tracking is in effect (after
execution of Trk On command), error L2662 (Cannot be used
(axis trk)) is occurred.
It can be used only for linear movement 1 axis.
6 Coordinated control for additional axes
Contents
Optimum acceleration / deceleration is effective, robot
synchronization control
Additional axis tracking 6-99