Mitsubishi Electric MELFA CR800-D Series User Manual page 91

Parameter Parameter
name
Robot MTCSNGL1
mechanism
temperature
compensation
Invalid range
Robot MTCSNGL2
mechanism
temperature
compensation
Limit range
No. of
etails explanation
arrays
Real In the vicinity of the singular point and in
value 4 the vicinity of the
the range in which the robot mechanism
temperature compensation function is to
be invalidated.
<Vertical articulated (6-axis) robot>
1st element :
(RIGHT / LEFT)
It is specified by the distance on the XY
plane from the singular point.
Unit : [mm]
2nd element :
(ABOVE / BELOW)
It is specified by the J3 axis angle from
the singular point.
Unit : [deg]
3rd element :
(NONFLIP/FLIP)
It is specified by the J5 axis angle from
the singular point.
Unit : [deg]
4th element :
It is specified by the distance from the
movement range boundary when the
position farthest from the
is 0 [%] and the
boundary is 100 [%].
Unit : [%]
<Horizontal articulated (4-axis) robot>
1st element :
(RIGHT / LEFT)
It is specified by the J2 axis angle from
the singular point.
Unit : [mm]
2nd element : Insignificant
3rd element : Insignificant
4th element :
It is specified by the distance from the
movement range boundary when the
position farthest from the
is 0 [%] and the
boundary is 100 [%].
Unit : [%]
Real In the vicinity of the singular point and the
value 4 vicinity of the motion range, specify the
range to limit the compensation amount of
the robot mechanism temperature
compensation function.
The position of each element is the same
as the parameter "MTCSNGL1".
5 Robot mechanism temperature compensation function
movement range, specify
Near the structure flag
* 0 is on a singular point
Near the structure flag
* 0 is on a singular point
Near the structure flag
* 0 is on a singular point
Near the operating range
movement
movement
* 0 is the operating range
boundary
Near the structure flag
* 0 is on a singular point
Near the movement range
movement
movement
* 0 is the operating range
boundary
Factory setting
Vertical articulated
(6-axis) robot
= (0, 5, 5, 0)
Horizontal
articulated (4-axis)
robot
= (5, 0, 0, 0)
range
range
range
range
Vertical articulated
(6-axis) robot
= (100, 15, 15, 1)
Horizontal
articulated (4-axis)
robot
= (15, 0, 0, 1)
Parameter setting 5-81