Registering A Free Plane Limit - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters
Parameter
Center position of CAVPSW1 to 8
simulated compo-
nent
(workpiece)
Simulated compo- CAVSZW1 to 8
nent size
(workpiece)
Simulated compo- CAVSCW1 to 8
nent enable/dis-
able
(workpiece)
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.
TheLoadset (Load Set)
parameter beforehand.
Executing interference check only when workpiece is grasped
Interference checks are performed for a simulated workpiece only while the workpiece is grasped with
the parameter HNDHOLD*. (Interlinked with hand open/close)

5.24.4 Registering a free plane limit

Register a free plane limit used for checking for interference. The required registration details are shown in
Table 5-37. Maximum of eight planes can be used for checking for interference.
CAUTION
6-534 Interference avoidance function
Parameter No. of arrays
name No. of characters
Real number 6
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
An interference check is executed only by registered CPU.
Details explanation
For each simulated component, designate the center
position and pose of the simulated component from the
origin point of the Mechanical interface coordinate
system. (Each simulated component corresponds to the
last digit (1 to 8) of the parameter name.)
1st element: Distance in X axis direction (mm)
2nd element: Distance in Y axis direction (mm)
3rd element: Distance in Z axis direction (mm)
4th element: angle of rotation on X axis (degree)
5th element: angle of rotation on Y axis (degree)
6th element: angle of rotation on Z axis (degree)
Note) Calculate the rotation angle in order of Z → Y → X
axis. If shape is the sphere, setting of the rotation
angle is unnecessary.
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
Factory setting
Set all parameters
(CAVPSW1 to 8) to
"0, 0, 0, 0, 0, 0".
Set all parameters
(CAVSZW1 to 8) to
"0, 0, 0, 0".
Set all parameters
(CAVSCW1 to 8)
to "0, 0, 0".
function.)