Mitsubishi Electric CR750-Q Instruction Manual page 460

5Functions set with parameters
Parameter
Standard base MEXBSNO
coordinates
Refer to
"4.5Coordinate
system description
of the robot"
Base coordinate MEXSBS
data for system
Tool coordinate MEXSTL
data for system
User area Specify the user definition area (maximum of 32 area) and the action when the robot enters in
the area.
Refer to
AREA*CS
"5.8About user-
* is 1 to 32
defined area"
AREA*P1
* is 1 to 32
5-440 Movement parameter
Parameter
No. of arrays
name No. of characters
Real value 1 Sets world coordinate system by specifying a base coordinate
Real value 6 Sets the positional relationship between the world coordinate
Real value 6 Sets the initial values for the relationship between the hand tip
Integer 1
Real value 8 Designates position coordinates of the diagonal point 1 of the
Details explanation
number (base conversion).
Displays current settings, as well.
Description of set values:
0:Designates P_NBase (system's initial value). (Because
P_NBase = (0, 0, 0, 0, 0, 0), base conversion is cleared.)
1~8: Designates a set value for work coordinate systems 1
through 8 (parameters: WK1CORD through WK8CORD).
-1:Base conversion data is specified directly by a base
command or by a reference base coordinate parameter
MEXBS.
(Note: The set value "-1" is valid for read only.)
Note) The value cannot be changed during program execution or
pausing.
system and the base coordinate system.
The world coordinate system and the base coordinate system
match at factory default.
This parameter is not changed by the Base command.
(control point) and the mechanical interface (hand mounting
surface).
This parameter is not changed by the Tool command or M_Tool.
Specify the coordinate system of the user definition area *.
0: Base coordinate system (conventional compatibility)
1: Robot coordinate system
user-defined area n and coordinates of posture data/additional
axes. Definitions are given, starting with the 1st element, to X, Y,
Z, A, B, C, L1, and L2 in the order listed.
Item
X, Y, Z Specify position coordinates of the
elements diagonal point 1.
A, B, C Specify posture area.
elements
L1, L2 Specify additional axis area.
elements
<NOTES>
*Specify values in the coordinate system which was designated
by AREA*CS.
*If a posture check is not to be made, set A, B and C coordinates
to -360.
*If additional axes are used, specify elements L1 and L2.
*In regard to elements X, Y, Z, L1 and L2, defined area remains
unchanged if parameter interchange is made to AREA*P2.
Details Unit
mm
deg
mm,
deg
Factory setting
-1
(X,Y,Z,A,B,C) =
0.0, 0.0, 0.0,0.0,
0.0, 0.0
(X,Y,Z,A,B,C) =
0.0, 0.0, 0.0,0.0,
0.0, 0.0
0
(X,Y,Z,A,B,C,L1,L2)
= 0.0, 0.0, 0.0,
-360.0, -360.0,
-360.0, 0, 0