Mitsubishi Electric CR750-Q Instruction Manual page 531

*How to use the singular point passage function
In order to use the singular point passage function in jog operation, specify 1 (valid) for parameter FSP-
JOGMD and turn the power supply to the controller off and on again. To use the function in automatic oper-
ation, specify 2 for constant 2 in the TYPE specification of the interpolation instruction.
* Available robot models
Following models are available for the singular point passage function.
Available robot models
RV-2F, RV-4F series, RV-4FJL, RV-7F series,
RV-7FLL, RV-13F series, RV-20F, RV-50F series
When the singular point passage function is enabled for the models other than the target models, normal
operation (in which the posture is maintained and the structure flags are not switched) is performed for jog
operation and an error occurs in automatic operation.
*Limitations
There are the following limitations to the use of the singular point passage function.
(1) The singular point passage function cannot be used if additional axes are used for multiple mecha-
nisms.
(2) The singular point passage function cannot be used if synchronization control is used for additional
axes of a robot.
(3) The singular point passage function cannot be used if the compliance mode is valid.
(4) The singular point passage function cannot be used if the collision detection function is valid.
(5) The information collection level of the maintenance forecast function must be set to level 1 (factory
setting).
(2) Singular point passage function in jog operation
In case of jog operation, the singular point passage function is specified to be valid (1) or invalid (0) by
parameter FSPJOGMD.
FSPJOGMD XYZ jog
0 Normal XYZ jog
(Factory setting) operation
Singular point
1 passage XYZ
jog
1) The normal XYZ/TOOL/WORK jog operation refers to the operation in which the posture is maintained
and the structure flags are not switched.
2) For robots that cannot use the singular point passage function, changing the setting value of parameter
FSPJOGMD has no effect; robots perform the normal operation (The posture is maintained and the
structure flags are not switched.)
The models supporting the singular point passage function are RV-F series robots. (Refer to
robot models in details.)
3) It is not possible to specify multiple axes to perform jog operation at the same time when passing a sin-
gular point. If it is attempted to operate an axis while another axis is operating, the operation is ignored.
4) A singular point adjacent alarm is generated if the robot comes near a singular point when performing jog
operation using a T/B. See
5) The specification of parameter FSPJOGMD is reflected in jog operation via dedicated input signals as
well.
Tool jog Work jog
Normal Tool jog Normal Work
operation jog operation
Singular point Singular point
passage Tool passage Work
jog jog
Page 509, "5.20 About singular point passage
5Functions set with parameters
3-axis XYZ jog CYLINDER jog
The setting
value does not The setting
affect. value does not
(For the X, Y, affect.
and Z axes, the (The posture is
posture is main- maintained and
tained and the the structure
structure flags flags are not
are not switched.)
switched.)
function".
About singular point passage function 5-511
JOINT jog
The setting
value does not
affect.
Available