Mitsubishi Electric CR750-Q Instruction Manual page 267

JRC (Joint Roll Change)
[Function]
• This instruction rewrites the current coordinate values by adding +/-360 degrees to the current joint coordi-
nate values of the applicable axis (refer to <Axis No> in [Terminology]) of the robot arm.
• User-defined axis (additional axis, user defined mechanism)
This instruction rewrites the current coordinate values by adding/subtracting the value specified by a
parameter to/from the current joint coordinate values of the specified axis. This instruction can be used for
both rotating and linear axes. The origin can also be reset at the current position.
[Format]
JRC < [+] <Numeric Value> / -<Numeric Value> / 0 > [, < Axis No>]
[Terminology]
<Numeric Value>
<Axis No>
[Reference Program]
1 Mov P1
2 JRC +1
3 Mov P1
4 JRC +1
5 Mov P1
6 JRC -2
[Explanation]
(1) With the JRC 1/-1 instruction (JRC n/-n), the current joint coordinate values of the specified axis are
incremented/decremented.
The origin for the designated axis is reset with the JRC 0 command.
Although the values of the joint coordinates change, the robot does not move.
(2) When using this command, change the movement range of the target axis beforehand so that it does not
leave the movement range when the command is executed. The range can be changed by changing
the - side and + side value of the corresponding axis in the joint movement range parameter "MEJAR".
Set the movement range for the rotating axis in the range of -2340 deg. to 2340 deg.
Specify an incremental/decremental number (a multiple of 360 degrees). Description
by the constant or the variable is possible (J1 edition or later is possible).
Example) +3: Increases the applicable axis angle by 1080 degrees.
-2: Decreases the angle by 720 degrees.
<+1>: The current joint angle of the designated axis is incremented by the
amount designated in parameter JRCQTT (The sign can be omitted.).
For the priority axes of the robot arm, it is fixed at 360 degrees.
<-1>: The current joint angle of the designated axis is decremented by the
amount designated in parameter JRCQTT. For the priority axes of the
robot arm, it is fixed at 360 degrees.
<0>: The origin for the designated axis is reset at the value designated in
parameter JRCORG.
This can be used only for the user-defined axis.
The target axis is specified with the number. The priority axes are used if omitted.
Note that this argument cannot be omitted if additional axes and/or user-defined mechan-
ical axes are the targets.
[Applicable Models and Applicable Axes]
(1)Applicable models and priority axes
RH-F series: J4 axis (priority axis)
RV-F series: J6 axis (priority axis)
(2)Additional axes of all models
(3)All axes of user defined mechanisms
' Moves to P1.(The movement to which the J6 axis moves in the minus direction)
' Add 360 degrees to the current coordinate values of the applicable axis.
' Moves to P1.
' Add 360 degrees to the current coordinate values of the applicable axis.
' Moves to P1.
' Subtract 720 degrees from the current coordinate values of the applicable axis.
(Reverts)
Detailed explanation of command words 4-247
4MELFA-BASIC V