Position Repair Function - Mitsubishi Electric MELFA FR CR800 Series User Manual

15.4. Position Repair Function

The position repair function is restricted by the usable models and controller software versions. See "Table
15-9 Supported Robot Controllers and Model".
The "position repair function" is used when a tool is deformed by a collision or the origin is out of place because
the motor has been replaced. It is possible to use the previous position data in the controller simply by reteaching
part of the position data within the robot program. (Position repair generates parameters to correct the position
deviation and corrects all the position data in the robot controller.)
However, understand that there are some cases that position repair cannot restore, such as applications
requiring high precision and major mechanical damage to a robot from a collision.
Also, restrictions on a robot's degrees of freedom can make it impossible to recover with position repair. Since
vertical 5-axis robots and horizontal 4-axis robots are restricted as shown in "Table 15-8 The limit by degree of
freedom", positional deviations related to these restrictions cannot be corrected with this function. In this case,
either reteach manually or correct the deviating section (for example, by replacing a bent hand).
No. Robot model
1 Vertical 5-axis robot
2 Horizontal 4-axis robot
Caution
The position repair function cannot be used
The position repair function is only supported by MELFA-BASIC IV, MELFA-BASIC V and
MELFA-BASIC VI. It cannot be used with Movemaster commands.
Caution
When a password is registered in parameters or files by the robot
controller's security function, it is not possible to operate the Position repair
Function.
When a password is registered in "parameters" or "files" by the robot controller security function, it
is not possible to operate the Position Repair Function.
Position repair Function
Please delete the password of robot controller's security function when you operate these.
Please refer to "15.5.3 Delete Password" for how to delete the password.
For details on setting security functions (registering passwords) and releasing security functions
(deleting passwords) on robot controllers, refer to "Table 15-12 Compliant version of this
function and controller".
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Table 15-8 The limit by degree of freedom
The limit by degree of freedom
It cannot move in the direction of the C element of the
Cartesian position.
It cannot move in the direction of the A, B elements of the
Cartesian position.
with Movemaster commands.
Item to which password of security function is registered.
Program
○
○ : Enabled、 × : Disabled
Parameter
×
File
×
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