Parameter Setting - Mitsubishi Electric MELFA CR800-D Series User Manual

6.3.5 Parameter setting

The parameter which is used is below.
Parameter
Parameter
Workpiece WKnSYNC
synchronization
(n = 1～8)
settings
Workpiece WKnCALIB
mounting
(n = 1～8)
position、posture
data
Tracking mode TRMODE
Tracking TRPACL
Acceleration (*1)
Tracking TRPDCL
Deceleration
(*1)
Number of multi AXUNUM
mechanisms
used (*2)
Mechanism No. AXMENO
designation (*2)
Table 6-11 The list of parameter of additional axis tracking
Element
name number
Integer 2
Real
number 6
Integer 1
Real
number 8
Real
number 8
Integer 1
Integer 16
Content explanation
Set the mechanism number and axis number
attached to workpiece.
Element1：mechanism number
0: Disable
2: mechanism
3: mechanism
Element2：Axis number
1/2/3: 1/2/3 axis of corresponding
mechanism.
Set the position relationship of workpiece and
coordinate ofattached axis.
Element 1：Mounting position offset in the X axis
direction from the origin of the
mounting axis. [mm]
Element 2：Mounting position offset in the Y axis
direction from the origin of the
mounting axis. [mm]
Element 3：Mounting position offset in the Z axis
direction from the origin of the
mounting axis. [mm]
Element 4：Mounting posture offset around X
axis of the munting axis.
Element 5：Mounting posture offset around Y
axis of thr mounting axis.
Element 6：Mounting posture offset around Z
axis of the mounting axis.
(The direction of rotation is the same as the
coordinate system of the robot.)
Specify tracking disable/tracking/additional axis
tracking.
0: Tracking disable
1: External encoder tracking
2: Additional axis tracking
Tracking acceleration.
Acceleration during
movement.
Tracking deceleration.
Deceleration during
movement.
The number of multi-mechanism to use.
(The robot and the mechanism of mechanism
number 1 are exclude.)
Input the mechanism No. to the element which
corresponds to the servo control axis No. used
and be sure to set "0" for the axis not used.
6 Coordinated control for additional axes
2
3
[deg].
[deg].
[deg].
execution of tracking
execution of tracking
Additional axis tracking 6-101
Factory
setting
0, 1
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
0
1.0, 1.0,
1.0, 1.0,
1.0, 1.0,
1.0, 1.0
1.0, 1.0,
1.0, 1.0,
1.0, 1.0,
1.0, 1.0
0
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0