Mitsubishi Electric CR750-Q Instruction Manual page 469

Parameter
Parameter
name
Impact Detection COL
Note that this
parameter cannot
be used together
with the multi-
mechanism control
function.
Detection level COLLVL
Detection level COLLVLJG
during jog
operation
Servo status after COLSERVO
collision detection
*Available soft-
ware versions
S/W Ver.
F-Q series:
R5 or later
F-D series:
S5 or later
Selection of wrist RCD
rotation angle (axis
A) coordinate
system
Warm-up operation WUPENA
mode setting
Warm-up operation WUPAXIS
mode target axis
No. of arrays
No. of characters
Integer 3
Define whether the impact detection function can/cannot be
used, and whether it is enabled/disabled immediately after
power ON.
Element 1: The impact detection function can (1)/cannot (0) be
used.
Element 2: Enable (1)/disable (0) as the initial state at automatic
operation.
Element 3: Enable (1)/disable (0)/NOERR mode (2) during jog
operation
The NOERR mode does not issue an error even if impact is
detected. It only turns off the servo. Use the NOERR mode if it is
difficult to operate because of frequently occurred errors when
an impact is detected. The specification depends on the setting
for jog operation (element 3) in cases other than program
operation (including position jump and step feed).
Integer 8
Set the initial value of the detection level (sensitivity) of each
joint axis during automatic operation.
Setting range: 1 to 500, unit: % * If a value exceeding the setting
range is specified, the closest value allowed within the range is
used instead.
Real value 8 Set the detection level (sensitivity) during jog operation
(including pause status) for each joint axis. Unit: %
Decrease the value to increase the detection level (sensitivity).
Increase the value if an impact detection error occurs even
though no impact is detected during jog operation.
Setting range: 1 to 500, unit: %
* If a value exceeding the setting range is specified, the closest
value allowed within the range is used instead.
Integer 1
Specifies the servo status after the collision detection. For this
function, using the impact detection in the NOERR mode is
required.
0: Servo off
1: Servo on held
Integer 1
Switch the control and display method of the wrist rotation angle
(axis A of the XYZ coordinates system) of a vertical 5-axis type
robot. This parameter is invalid for robots of other types.
2: General angle method
Control axis A such that the hand's posture is maintained if
the value of axis A is the same before and after an operation.
Note that there are cases where the hand's posture cannot be
maintained depending on the attitude of the wrist (axis B of
the XYZ coordinates system). Under normal circumstances,
use this method without changing the setting at shipment from
the factory.
Integer 1
Designate the valid/invalid of the Warm-up operation mode.
0:Invalid
1: Valid
Note: If a value other than the above is set, everything will be
disabled.
Note: For multiple mechanisms, this mode is set for each
mechanism.
Integer 1
Specify the joint axis that will be the target of control in the warm-
up operation mode by selecting bit ON or OFF in hexadecimal
(J1, J2, .... from the lower bits).
Bit ON: Target axis
Bit OFF: Other than target axis
A joint axis that will generate an excessive difference error when
operated at low temperature will be a target axis.
Note: If the bit of a non-existent axis is set to ON, it will not be a
target axis.
Note: If there is no target axis, the warm-up operation mode will
be disabled.
Note: For multiple mechanisms, this mode is set for each
mechanism.
5Functions set with parameters
Details explanation
Movement parameter 5-449
Factory setting
RH-3FH/6FH/12FH/
20FH series:
1,0,1
RV-F series:
0,0,1
RH-3FHR series:
1,1,1
The setting varies
depending on the
model.
The setting varies
depending on the
model.
0
2 (general angle
method)
0(Invalid)
0