Appendix; Configuration Flag - Mitsubishi MELFA CR1D Instruction Manual

7 Appendix

7.1 Configuration flag

The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and
C. However, even with the same position data, there are several postures that the robot can change to. The
posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X,
Y, Z, A, B, C) (FL1, FL2).
The types of configuration flags are shown below.
*For vertical multi-joint type robot
(1) Right/Left
P is center of flange in comparison with the plane through the J1 axis vertical to the ground.
Q is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground.
LEFT RIGHT
Ｐ
J1 axis
Rotation center
Fig.7-1:Configuration flag (Right/Left)
(2) ABOVE/BELOW
Q is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis.
BELOW
ABOVE
Ｑ
Fig.7-2:Configuration flag (ABOVE/BELOW)
LEFT
5-axis type
J3 axis
Rotation center
J2 axis
Rotation center
5-axis type
LEFT RIGHT
Ｑ
J1 axis
Rotation center
6-axis type
BELOW
ABOVE
Ｑ
LEFT
FL1(Flag1)
&B 0 0 0 0 0 0 0 0
↑
1/0 = Right/Left
Note) "&B" is shows the binary
FL1(Flag1)
&B 0 0 0 0 0 0 0 0
↑
1/0 = ABOVE/BELOW
Note) "&B" is shows the binary
J3 axis
Rotation center
J2 axis
Rotation center
6-axis type
Configuration flag 9-440
7Appendix