Mitsubishi Electric CR750-Q Instruction Manual page 547

Setting items for
simulated component
Center position
Simulated component
size
Enable/disable for each
simulated component
Note1) The initial settings for each model are set at the factory.
Each parameter is explained in the following section.
(1) Simulated component registration parameter
Parameters listed in
Up to eight simulated component types can be registered for each of the robot arm, hand and workpiece.
The last digit of a parameter name indicates the simulated component type.
1) Simulated components for robot arm
<1> Registration section and shape of simulated components: CAVKDA1 to 8
Table 5-31:Simulated component setting parameter (robot arm: CAVKDA1 to 8)
Parameter
Parameter
name
Registration CAVKDA1 to 8
section and
shape of sim-
ulated compo-
nent
(robot arm)
Simulated robot arm
Using the robot arm installation
face or the rotation center of
each axis as the reference point,
set the simulated component's
center position as a distance
from that reference point.
Parameters: CAVPSA1 to 8
Parameters: CAVSZA1 to 8
Set whether to enable/disable a simulated component, and whether to temporarily disable a simulated
component when T/B is enabled.
Note) The simulated hand and workpiece must be disabled during teaching.
Parameters: CAVSCA1 to 8
Table 5-30 are explained in detail in this section.
No. of arrays
No. of characters
Integer 2 Set the registration section (Jn axis) and shape
of a simulated component. Up to eight simulated
component types can be registered. (Each type
corresponds to the last digit (1 to 8) of the
parameter name.)
1st element: Registration section (Jn axis)
0: Base section
1 to 6: Jn axis
2nd element: Shape
0: a sphere
1: a cylinder
Note) The shape of a simulated component is a
sphere.
Simulated component type
Note1)
Simulated hand
Designate the simulated component's center as a distance from the
Mechanical interface coordinate
Parameters: CAVPSH1 to 8
Set the size of each simulated component as a radius.
Parameters: CAVSZH1 to 8
Parameters: CAVSCH to 8
Details explanation
5Functions set with parameters
Simulated workpiece
system's origin point (tip of J3 axis).
Parameters: CAVPSW1 to 8
Parameters: CAVSZW1 to 8
Parameters: CAVSCW1 to 8
Factory setting
RH-3/6/12/20FH
series:
CAVKDA1=0, 1
CAVKDA2=0, 0
CAVKDA3=1, 0
CAVKDA4=2, 0
CAVKDA5=2, 0
CAVKDA6=2, 0
CAVKDA7=2, 0
CAVKDA8=4, 1
Note) The setting
value of RH-
3FH35xx, and
RH-6FH35xx and
RH-12FH55xx is
CAVKDA3=0,0.
RH-3FHR series
CAVKDA1=0, 0
CAVKDA2=1, 1
CAVKDA3=1, 0
CAVKDA4=2, 1
CAVKDA5=2, 1
CAVKDA6=3, 1
CAVKDA7=0, 0
CAVKDA8=0, 0
Interference avoidance function 6-527
RV-F series:
CAVKDA1=0, 0
CAVKDA2=0, 1
CAVKDA3=2, 1
CAVKDA4=4, 1
CAVKDA5=5, 0
CAVKDA6=0, 0
CAVKDA7=0, 0
CAVKDA8=0, 0
Note) The setting
value of RV-2F is
CAVKDA2=0,0
CAVKDA4=3,0
CAVKDA5=4,1
CAVKDA6=5,0.