Mitsubishi Electric CR750-Q Instruction Manual page 472

5Functions set with parameters
Parameter
Specification of the MVTERM
end conditions of
an operation com-
mand when Cnt
command is invalid
Safe point return ESCMODE
mode
Controller CPU DRVMODE
drive mode
Feedback gain FBGAIN
adjustment coeffi-
cient
*Available soft-
ware versions
S/W Ver.
F-Q series:
R6h or later
F-D series:
S6h or later
Servo simulation SRVSIM
function
Vision sensor cali- VSCALBn
bration data
5-452 Movement parameter
Parameter
No. of arrays
name No. of characters
Integer 1
Integer 1
Integer 1
Integer 8
Integer 1
Integer 12
n=1 to 8
Details explanation
Specifies the end conditions of an operation command when Cnt
command is invalid.
For the F series (RV-2F/2FL and RH-3FHR are excluded), the
completion conditions for movement instructions have been
changed in order to achieve higher target position attainability
performance when Cnt is set to 0. The operation time may
become longer when a program created by any model earlier
than the F series (SD/SQ series) is used by the F series (RV-2F/
2FL and RH-3FHR are excluded) as it is. When priority is given
to the operation speed, change this parameter and use the Fine
P or Dly instruction, etc., for positions that require positioning.
0: speed command output is completed
1: corresponds to Cnt 1
2: speed command generation is completed
Choose tool defining position or mechanical interface origin posi-
tion as a current position when returning the safe point.
0: set to TCP position (tool defining position)
1: set to mechanical interface origin position
Specifies whether the connection with a robot is required or not
when simulating by a software.
In F-Q series, specifies whether the connection with a drive unit
is required or not.
0: Normal mode
(Connection with robot or drive unit is required.)
1: Robot servo separation mode
(Connection with robot or drive unit is not required.)
Adjusts the speed loop gain for each joint axis.
Unit: [%]
Setting range: 50 to 150
Setting a smaller value suppresses the motor oscillation or the
disturbance influence on driving units.
By setting a larger value, the trajectory accuracy or the settling
time will be improved, and yet the motor may oscillate. Increase
the value gradually while checking the condition.
Specifies enable/disable of the load factor simulation for the RT
ToolBox2 simulation.
0: Disable
1: Enable
Stores the vision sensor calibration data defined in the 2D vision
calibration function of RT ToolBox2.
Corresponds to 8 calibration data of the calibration numbers n=1
to 8.
Factory setting
0: F series
(RV-2F/2FL and RH-
3FHR are excluded.)
2: RV-2F/2FL, RH-
3FHR, SD/SQ
series
0
0
100, 100, 100, 100,
100, 100, 100, 100
1
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0