Mitsubishi MELFA CR1D Instruction Manual page 435

Parameter
Class
name
MnWUPMD Input -
(n=1 to 3) Output Mechanism n warm-up
operation status output
signal
Note 1) The meanings of the signal level are explained below.
Level: The designated function is validated when the signal is ON, and the function is invalidated
when the signal is OFF. Make sure the signal is turned ON for at least 30 ms.
Edge: The designated function is validated when the signal changes from the OFF to ON state, and
the function maintains the original state even when the signal returns to the OFF state. .
Example)
START
Note 2) Set in the order of input start No., input end No., output start No. and output end No.
When using as the input or output of an actual value, use from the start No. to the end No., and
express as a binary. The start No. indicates the low-order bit, and the end No. indicates the high-order
bit. Set only the numbers required to express the value.
For example, when using for program selection and only programs 1 to 6 are available, the expression
can be created by setting 3 bits. Up to 16 bits can be set.
Assignment examples are shown below.
Example)To set the start input signal in general-purpose input 10016, and the operating output signal
in general-purpose output 10026.
Parameter START ={10016, 10026}
Example)When setting 4 bits of numerical input to general-purpose inputs 10027 to 10030, and 5 bits
of numerical output to general-purpose outputs 10027 to 10031.
Parameter IODATA = {10027, 10030, 10027, 10031}
Note 3) Set in the order of input start No., input end No., output start No. and output end No.
When using as the actual jog mode, use from the start No. to the end No., and express as a binary. The
start No. indicates the low-order bit, and the end No. indicates the high-order bit. Set only the numbers
required to express the value.
For example, when using only the joint mode and XYZ mode, the expression can be created by setting
2 bits. Up to 3 bits can be set.
Note 4) They are in the order of an input starting number and then an input end number. Specify the J1/X axis
for the input starting number and the J8/L2 axis for the input end number at its maximum.
For example, when using a 6-axis robot, only 6 bits need to be set.
Even if using a 4-axis robot, when using the XYZ mode, the C axis is required, so 6 bits must be set.
Up to 8 bits can be set.
Note 5) Set in the order of output start No. and output end No. The start number specifies area 1, while the end
number specifies area 32 in the largest configuration.
For example, setting 2 bits will suffice if only two areas are used. A maximum of 32 bits can be set.
Name
-
Outputs that the status is the warm-up opera-
tion status, and thus the robot will operate at a
reduced speed. (n=1 to 3)
Set an interval of at least 30 ms
Function
Set an interval of at least 30 ms
IODATA
PRGSEL
6External input/output functions
Factory shipment signal number.
Signal
Input, output
level
Note1)
CRnQ
-1( No meaning ), -1( No meaning ),
-1 -1
Dedicated input/output 6-422
CRnD