Mitsubishi Electric MELFA CR800-D Series User Manual page 114

6 Coordinated control for additional axes
Parameter
Parameter
Joint movement MEJAR
range (*2)
User-designated USERORG
origin (*2)
*1: For details of parameters, refer to chapter 18.1 "List of Parameters Related to Tracking" of "Tracking
Function Instruction Manual (BFP-A3520)".
*2: For details of parameters, refer to chapter 7.1 "Description of parameters" of "ADDITIONAL AXIS
FUNCTION INSTRUCTION MANUAL (BFP-A3504)".
6-104 Additional axis tracking
Element
name number
Real
numbe 16
Real
numbe 8
Content explanation
Set the overrun limit value for the joint
coordinate system.
Sets the movement range for each axis.
Expanding of the movement range is not
recommended, since there is possibility that the
robot may strike the mechanical stopper.
Note) Please note that the joint movement
range of J1 axis cannot be changed
after the J1
(J1OFFSET) is specified in vertical
5-axis type robot.
Set the minus and plus directions.
(-J1,+J1,-J2,+J2,......-J8,+J8)
Unit:deg
Designate the user-designated origin position.
This normally does not need to be set.
(J1,J2,J3,J4,J5,J6,J7,J8)
Unit：deg
axis offset angle
Factory
setting
Setting
value
for each
mechanism
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00