Mitsubishi Electric MELFA CR800-D Series User Manual page 112

6 Coordinated control for additional axes
Parameter
Parameter
Setting axis No. AXJNO
(*2)
Unit sstem (*2) AXUNT
Rotate AXSPOL
direction
(*2)
Acceleration AXACC
time (*2)
Deceleration AXDEC
time (*2)
Total speed ratio AXGRTN
numerator (*2)
Total speed ratio AXGRTD
denominator (*2)
6-102 Additional axis tracking
Element
name number
Integer 16
Integer 16
Integer 16
Real
numbe 16
Real
number 16
Integer 16
Integer 16
Content explanation
Designate what number of the axis of the robot
arm is used for the additional axis.
Unit system of additional axis
0: Angle[deg]
1: Length[mm]
2: Length[mm] Using linear servo
Set the rotation direction of the motor.
0: Forward(CCW)
1: Reverse(CW)
The direction of rotation of the servomotor is as
follows.
Acceleration time for additional axis [sec].
Deceleration time for additional axis [sec].
Total speed ratio numerator of additional axis
Total speed ratio denominator of additional axis
Factory
setting
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1
10, 10,
10, 10,
10, 10,
10, 10,
10, 10,
10, 10,
10, 10,
10, 10