Mitsubishi Electric CR750-Q Instruction Manual page 524

5Functions set with parameters
(2) Function Details
1)Parameters, Dedicated I/O Signals and Status Variables of the Warm-Up Operation Mode
The following parameters, dedicated I/O signals and status variables have been added in the warm-up oper-
ation mode. Refer to
Page 97, "4 MELFA-BASIC V"
Table 5-17:Parameter List of the Warm-Up Operation Mode
Parameter name
WUPENA
WUPAXIS
WUPTIME
WUPOvrd
Table 5-18:Dedicated I/O Signal List of Warm-Up Operation Mode
Parameter name
MnWUPENA (n=1t o 3)
(Operation right required)
MnWUPMD(n=1 to 3)
Table 5-19:Status Variable of Warm-Up Operation Mode
Status variable
M_Wupov
M_Wuprt
M_Wupst
5-504 Warm-Up Operation Mode
Page 438, "5.1 Movement
for details.
Designate the valid/invalid of the Warm-up operation mode.
0:Invalid/ 1: Valid
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
Specify the time (unit: min.) to be used in the processing of warm-up operation mode. Specify the valid time in
the first element, and the resume time in the second element.
Valid time: Specify the time during which the robot is operated in the warm-up operation status and at a
reduced speed. (Setting range: 0 to 60)
Resume time: Specify the time until the warm-up operation status is set again after it has been canceled if a
target axis continues to stop. (Setting range: 1 to 1440)
Perform settings pertaining to the speed in the warm-up operation status. Specify the initial value in the first
element, and the value constant time in the second element. The unit is % for both.
Initial value: Specify the initial value of an override (warm-up operation override) to be applied to the operation
speed when in the warm-up operation status. (Setting range: 50 to 100)
Ratio of value constant time: Specify the duration of time during which the override to be applied to the opera-
Class
Input Enables the warm-up operation mode of each mechanism. (n: FMechanism No.)
Output Outputs that the warm-up operation mode is currently enabled. (n: FMechanism No.)
Output Outputs that the status is the warm-up operation status, and thus the robot will operate at a
reduced speed. (n: FMechanism No.)
Returns the value of an override (warm-up operation override) to be applied to the command speed in
order to reduce the operation speed when in the warm-up operation status.
Returns the time during which a target axis in the warm-up operation mode must operate to cancel the
warm-up operation status.
Returns the time until the warm-up operation status is set again after it has been canceled.
parameter", Page 559, "6.3 Dedicated input/output"
Description and value
tion speed when in the warm-up operation status does not change from the ini-
tial value, using the ratio to the valid time. (Setting range: 0 to 50)
Function
Function
and