Mitsubishi CRn-500 Series Instruction Manual page 62

8.User Mechanism Settings, Operation, and Commands
(4) AXUNT (unit system)
Regarding each axis, this parameter sets the unit system of the servomotor, which can be used.
Used as the linear drive axis (Unit: mm)
Used as the rotation axis. (Unit: degree) (Default value)
[Example]
When the servomotor set "Control axis No. of servo" as the 1st axis is used as the linear drive axis
(Unit: mm),
AXJNO = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
(5) AXSPOL (motor rotation direction)
Regarding each axis, this parameter sets in which direction the servomotor is rotated when the joint
position data is increased. The rotation direction is illustrated in the parameter details of "Instruction
Manual for Servo Amplifier".
Moreover, set the rotation direction with the robot controller.
Forward run (CCW) (default value) as the value of the
joint coordinate is increased
Reverse run (CW) as the value of the joint coordinate is
increased
Here, be sure to set "POL" parameter of the basic parameter No. 7 of the servo amplifier to "0"
(CCW).
[Example]
When the rotation direction of the servomotor set "Control axis No. of servo" as the 1st axis is
reversed as the joint position data is increased,
AXSPOL = 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 (Set "1" to the 1st element.)
(6) AXACC (acceleration time) · AXDEC (deceleration time)
Regarding each axis, these parameters set the acceleration/deceleration time from the stop state to
the maximum speed when the override of the servomotor which can be used is 100%. The default
value is 0.20 (seconds).
[Example]
When the acceleration/deceleration time of the servomotor set "Control axis No. of servo" as the 1st
axis is set as follows,
Acceleration time
Deceleration time
AXACC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
(Set "0.40" to the 1st element.)
AXDEC = 0.40, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20, 0.20
(Set "0.40" to the 1st element.)
48
0.40 (seconds)
0.40 (seconds)
1
0
0
1