Parameter Setting - Mitsubishi Electric MELFA CR800-D Series User Manual

6 Coordinated control for additional axes

6.2.5 Parameter setting

The parameter list which is used is below.
Table 6-6 The list of parameter of base coordinate cooperative control
Parameter
Parameter
Base coordinate BSSYNC
synchronization
setting
The position and BSCALIB
posture of
attachment of base
coordinate
6-92 Base coordinate cooperative control
Element
name number
Integer Enable or disable base coordinate cooperative
2 control, and specify the additional axis to which
base coordinate is attached.
Element1：Enable or disable base coordinate
Element 2：specify the additional axis to which
Integer Position relationship setting of base coordinate
6 and additional axis coordinate.
Element
Element
Element
Element
Element
Element
Explanation of contents
cooperative control.
0: Disable
1: Enable
base coordinate is attached.
1: L1(J7)axis
2: L2(J8)axis
1：Base coordinate mounting position
offset in the X axis direction from the
origin of the axis
interface coordinate system [mm]
2：Base coordinate mounting position
offset in the Y axis direction from the
origin of the axis
interface coordinate system [mm]
3：Base coordinate mounting position
offset in the Z axis direction from the
origin of the axis
interface coordinate system [mm]
4：Base coordinate mounting posture
offset around X axis of mechanical
interface coordinate system
5：Base coordinate mounting posture
offset around Y axis of mechanical
interface coordinate system
6：Base coordinate mounting posture
offset around Z axis of mechanical
interface coordinate system
Factory
setting
0, 1
0.0, 0.0,
0.0, 0.0,
0.0, 0.0
mechanical
mechanical
mechanical
[deg]
[deg]
[deg]