Machine Basic Setting; Joint Axis Structure; Arm Length Setting; Machine Speed Setting - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Machine basic setting

Machine type
Set the machine type that suits the type of machine to be controlled. When not using a machine, set "0".
Refer to the instruction manual of the machine library for details on supported machine types.
Operating range type
Set the operating range for joint axes.
The setting range differs by machine type. Refer to the instruction manual of the machine library for details.

Joint axis structure

Joint axis JNT1 to joint axis JNT6
Set the axis No. that is set in the amplifier setting to each joint axis (JNT1 to JNT6) to suit the machine type to be controlled.
Set "0" to axes that are not used. When axis No. is outside of the setting range or duplicated, a moderate error (error code:
30FAH) occurs and the machine does not start. The setting range differs by machine type. Refer to the instruction manual of
the machine library for details.
Ex.
Allocating axis 3 to JNT1, axis 4 to JNT2, and axis 8 to JNT3
Item
Joint axis JNT1
Joint axis JNT2
Joint axis JNT3
Joint axis JNT4
Joint axis JNT5
Joint axis JNT6

Arm length setting

Arm length L1 to arm length L6
Set the arm length and arm shift amount for the robot set in the machine type. Set "0" to arm lengths that are not used. When
arm lengths are outside of the setting range, a moderate error (error code: 30FAH) occurs and the machine does not start.
The setting range differs by machine type. Refer to the instruction manual of the machine library for details.

Machine speed setting

Parameter block designation
Set the number of the parameter block to be used in the positioning control of the machine. This setting is used in machine
JOG operation and machine program operation. When not setting a parameter block to machine positioning data with the
Motion SFC program Motion dedicated function (MCNST) or the Motion dedicated PLC instruction (M(P).MCNST/
D(P).MCNST), operation is controlled using the parameter block from this setting. When the interpolation unit of the
designated parameter block and the interpolation control unit of the machine do not match, a moderate error (error code:
30FAH) occurs, and the machine does not start. The interpolation control unit differs by machine type. Refer to the instruction
manual of the machine library for details.
Machine JOG speed limit value (mm)
Set the speed limit value for performing machine JOG operation in a "mm" unit coordinate system.
5 MACHINE CONTROL PARAMETERS
50
5.2 Machine Parameter
Setting value
3
4
8
0
0
0