Mitsubishi Electric CR750-Q Instruction Manual page 466

5Functions set with parameters
Parameter
The gravity direc- MEGDIR
tion
* Only RV-F series.
Hand initial state HANDINIT
Refer to
"5.13About default
hand status"
5-446 Movement parameter
Parameter
No. of arrays
name No. of characters
Real value 4 This parameter specifies the direction and magnitude of gravita-
Integer 8
Details explanation
tional acceleration that acts on the robot according to the instal-
lation posture for the X, Y, and Z axes of the robot coordinate
system, respectively (unit: mm/second
There are four elements: installation posture, gravitational accel-
eration in the X axis direction, gravitational acceleration in the Y
axis direction, and then gravitational acceleration in the Z axis
direction, in this order from the left.
Setting value (Installation posture,
gravitational acceleration in the X axis
Installation
direction, gravitational acceleration in the Y
posture
axis direction, and then gravitational
acceleration in the Z axis direction)
On floor
Against wall
Note1)
Hanging
Optional
Note2)
posture
Note1) In RH-3FHR series, the current setting of first element
(Installation posture; 0.0) should not be changed.
Note2) "***" indicates the numerical value
Refer to the lower example about the set value of the
optional postures.
The example of the setting of gravity acceleration is shown
below.
Example: If the robot is tilted 30 degrees forward (see the figure
below):
The direction gravity acceleration of X axis (Xg) = 9.8 x sin(30
degrees) = 4.9 .
The direction gravity acceleration of the Z axis (Zg) = 9.8 x
cos(30 degrees) = 8.5 .
Note that the value is set to -8.5 because the direction is oppo-
site to the Z axis of the robot coordinate system.
The direction gravity acceleration of the Y axis (Yg) = 0.0
Therefore, the set value is (3.0, 4.9, 0.0, and -8.5)
Set the pneumatic hand I/F output for when the power is turned
ON.
This parameter specifies the initial value when turning ON the
power to the dedicated hand signals (900'S) at the robot's tip.
To set the initial status at power ON when controlling the hand
using general-purpose I/Os (other than 900'S) (specifying a sig-
nal other than one in 900'S by the HANDTYPE parameter), do
not use this HANDINIT parameter, but use the ORS* parameter.
The value set by the ORS* parameter becomes the initial value
of signals at power ON.
2
).
( 0.0, 0.0, 0.0, 0.0 )
( 1.0, 0.0, 0.0, 0.0 )
( 2.0, 0.0, 0.0, 0.0 )
( 3.0, ***, ***, *** )
Factory setting
0.0, 0.0, 0.0, 0.0
1,0,1,0,1,0,1,0