Mitsubishi Electric CR750-Q Instruction Manual page 553

Parameter
Parameter
Simulated compo- CAVSZH1 to 8
nent size
(hand)
Simulated compo- CAVSCH to 8
nent enable/dis-
able
(hand)
Changing the simulated component to be checked at program execution (hand, workpiece)
When a program is executed, the simulated hand and workpiece targeted for the interference check
with the Loadset (Load Set)
the hand type actually being used or the workpiece type actually being grasped.
The Loadset (Load Set)
parameter beforehand.
3)Simulated components for workpiece
The parameters required to register a simulated workpiece are shown in
Table 5-36:Simulated component setting parameters (workpiece)
Parameter
Parameter
Workpiece num- CAVKDW1 to 8
ber and shape
(workpiece)
No. of arrays
name No. of characters
Real number 4
Integer 3
command can be changed so that the interference is checked according to
command designates a hand number or workpiece number, which is set with
No. of arrays
name No. of characters
Integer 2
Details explanation
Set the size of each simulated component.
(Each simulated component corresponds to the last digit
(1 to 8) of the parameter name.)
1st element: Radius (mm)
2nd element: Length (mm)
3rd element: Fixed to 0
4th element: Fixed to 0
Note) If shape is the sphere, setting of the length is
unnecessary.
Set whether to check (enable or disable) interference for
each simulated component.
(Each simulated component corresponds to the last digit
(1 to 8) of the parameter name.)
1st element: Enable/disable setting
(0: Disable, 1: Enable)
2nd element: Set whether to let the interference
avoidance function to temporarily disable
interference checks during jog operation.
(Refer to Temporarily canceling the
interference avoidance
(0: Disable, 1: Maintain enabled state)
Note) If interference is inevitable during
jog operation for teaching, setting
the simulated hand or workpiece to
"0: Disable" can be convenient.
3rd element: Fixed to 0
Details explanation
Set the workpiece number and shape of simulated
workpiece to be registered. Up to eight simulated
workpiece types can be registered. (Each type
corresponds to the last digit (1 to 8) of the parameter
name.)
1st element: Workpiece number
Corresponds to the workpiece condition
number for changing the simulated
component with the
command.
0: Simulated component type set as default.
1 to 8: Workpiece condition number designated with
the Loadset (Load Set)
2nd element: Shape
0: a sphere
1: a cylinder
5Functions set with parameters
Factory setting
Set all parameters
(CAVSZH1 to 8) to
"0, 0, 0, 0".
Set all parameters
(CAVSCH1 to 8) to
"0, 0, 0".
function.)
Table 5-36.
Factory setting
Set all parameters
(CAVKDW1 to 8)
to "0, 0".
Loadset (Load Set)
command
Interference avoidance function 6-533