Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 89

(7) Auxiliary operation specification
Specify the hand posture control type during linear inter-
polation.
a) Equivalent rotation: Evenly interpolates from start pos-
b) Orthogonal triaxis: Interpolates with joint angle (J4,
c) Singularity pass:
(8) Tool data setting
Select the tool data (1 - 4) set up by parameters in advance.
The tool data indicates the end (grip point) of hand and is specified by shift amount from the center of
robot flange and rotation angle.
Tool data
ture (A, B, C) to the posture (A, B,
C) at aimed position.
J5, J6) instead of hand posture (A,
B, C). Evenly interpolates from
start posture (J4, J5, J6) to the
posture (J4, J5, J6) at aimed posi-
tion.
Effective when passing by near a
singularity.
Specification to pass by a singular-
ity specific to six axes robot (sin-
gularity posture is posture B
shown in the right figure (2)).
Restricted by some positions and
postures.
For more information on the oper-
ation, refer to "Instruction Manual,
Detailed Description of Functions
and Operations".
Center of flange
Ym
Zm
Xm
Singularity of vertical 6-axis robot
1) Posture A
2) Posture B
Flag switch
posture
3) Posture C
Mechanical interface coordinate system
Tool coordinate system
Zt
Yt
Tool position
Xt
How to Operate Sequencer Direct 2-78
8Perform Sequencer Direct