Table Of Contents - Mitsubishi Electric MELFA CR800-D Series User Manual

1. Usage ............................................................................................................................................................................... 1-1
1.1 How to Use this Document ............................................................................................................................................ 1-1
2. Confirmation before use............................................................................................................................................... 2-2
2.1 Product confirmation ...................................................................................................................................................... 2-2
3. MELFA Smart Plus card .............................................................................................................................................. 3-3
3.1 List of function ................................................................................................................................................................ 3-3
3.1.1 Functions of A-type ................................................................................................................................................. 3-3
3.1.2 Functions of B-type ................................................................................................................................................. 3-5
3.2 Installing/removing and setting of the MELFA Smart Plus card .............................................................................. 3-6
3.2.1 Installing/removing of the MELFA Smart Plus card ............................................................................................. 3-6
3.2.2 Setting of the MELFA Smart Plus card (Only MELFA Smart Plus card) .......................................................... 3-9
3.3 Robot language specification ....................................................................................................................................... 3-10
3.3.1 Robot status variable list ....................................................................................................................................... 3-10
3.3.2 Detailed explanation of robot (system) state variable ....................................................................................... 3-10
3.4 Error list ......................................................................................................................................................................... 3-13
4. Calibration assistance function ................................................................................................................................ 4-14
4.1 Outline ............................................................................................................................................................................ 4-14
4.2 Automatic Calibration ................................................................................................................................................... 4-16
4.3 Workpiece coordinate calibration ................................................................................................................................ 4-35
4.4 Inter-robot relational calibration ................................................................................................................................. 4-57
4.5 Robot Programming Language ..................................................................................................................................... 4-62
4.5.1 Language list ........................................................................................................................................................... 4-62
4.5.2 Language detailed description ............................................................................................................................... 4-63
5. Robot mechanism temperature compensation function ...................................................................................... 5-78
5.1 Specification .................................................................................................................................................................. 5-78
5.2 Precautions .................................................................................................................................................................... 5-79
5.2.1 Please enable this function from the beginning .................................................................................................. 5-79
5.2.2 Accuracy is not obtained near the singular point and the vicinity of the motion range ............................... 5-79
5.3 Parameter setting ......................................................................................................................................................... 5-80
6. Coordinated control for additional axes.................................................................................................................. 6-82
6.1 Calibration of base coordinates .................................................................................................................................. 6-83
6.1.1 Overview .................................................................................................................................................................. 6-83
6.1.2 Specification ............................................................................................................................................................ 6-83
6.1.3 Operation procedure .............................................................................................................................................. 6-84
6.1.4 Parameter setting ................................................................................................................................................... 6-84
6.2 Base coordinate cooperative control ......................................................................................................................... 6-85
6.2.1 Overview .................................................................................................................................................................. 6-85
6.2.2 System configration................................................................................................................................................ 6-88
6.2.3 Specification ............................................................................................................................................................ 6-89
6.2.4 Operation procedure .............................................................................................................................................. 6-91
6.2.5 Parameter setting ................................................................................................................................................... 6-92
6.2.6 Creatinn of robot program ..................................................................................................................................... 6-93
6.3 Additional axis tracking ................................................................................................................................................ 6-95
6.3.1 Specification ............................................................................................................................................................ 6-95
Contents