Mitsubishi Electric CR750-Q Instruction Manual page 130

4MELFA-BASIC V
CAUTION
4-110 MELFA-BASIC V functions
The value of the start point of the pallet definition is employed for the structure flag of
grid points (FL1 of position data) calculated by pallet operation (Plt instruction).
For this reason, if position data with different structure flags are used for each point of
the pallet definition, the desired pallet operation cannot be obtained.
Use position data whose structure flag values are all the same for the start point, end
points A and B and the diagonal point of the pallet definition. The value of the start
position of the pallet definition is employed for the multi-rotation flag of grid points
(FL2 of position data) as well. If position data with different multi-rotation flags are
used for each point of the pallet definition, the hand will rotate and move in unex-
pected ways depending on the robot positions the pallet operation goes through and
the type of interpolation instruction (joint interpolation, line interpolation, etc.). In such
cases, use the TYPE argument of the interpolation instruction to set the detour/short
cut operation of the posture properly and ensure that the hand moves as desired.