Specification - Mitsubishi Electric MELFA CR800-D Series User Manual

6.2.3 Specification

(1) Basic specification
Basic function is below.
Table 6-4 Basic specification of base coordinate corporative control.
Item
Usable robot
Usable robot language
Definition of base coordinate
Attachment Usable
of base mechanisms
coordinate
Attachment
method
Attachment
position
Move base coordinate
Operation method of
additional axis
Movement area check
Vertical Multiple-joint roobts, Horizontal multiple-joint robots
MELFA-BASIC VI
State variable

Variable Name
M_BsCoopMd Setting of base coordinate cooperative
controlof spline interporation.
P_BsCdCurr Current base coordinate
If the function is valid, set base coordinate by the parameter described in
"Attachment of base coordinate".
If the function is invalid, set base coordinate by the conventional base data.
It is possible to attach base coordinate to robot additional axis
(7 axis or 8 axis)
* Only direct-acting axis is usable. (Rotation axis is not allowed)
Set the attach axis by using parameter of BSSYNC.
Set the attach position and posture by using parameter of BSCALIB.
You can move only base coordinate of robot
You can move base coordinate by jog operation, joint interpolation, linear
interpolation, circular interpolation, spline interpolation.
Synchronous movement mode（Initial state at power

The additional axis moves from the start point to the end point of
interpolation.
* Additional axis don't move in the case of circular interpolation or spline
interpolation.
Relative movement mode

Assign one of the X / Y / Z axis motion in spline interpolation to the
additional axis. The relative movement amount from the start point in the
specified axis direction is operated by the additional axis and after that, the
robot moves to compensate for the remaining amount of movement.
* If two additional axes exist, additional axis which is not used for
cooperation will not operate.
Execute moving area check of teaching position.
6 Coordinated control for additional axes
Specification
Explanation
(mechanism
on）
Base coordinate cooperative control 6-89
Page
6-94
6-94
1).