Mitsubishi MELFA CR1D Instruction Manual page 412

5Functions set with parameters
*How to use the singular point passage function
In order to use the singular point passage function in jog operation, specify 1 (valid) for parameter FSP-
JOGMD and turn the power supply to the controller off and on again. To use the function in automatic oper-
ation, specify 2 for constant 2 in the TYPE specification of the interpolation instruction.
*Limitations
There are the following limitations to the use of the singular point passage function.
(1) The singular point passage function cannot be used if additional axes are used for multiple mecha-
nisms.
(2) The singular point passage function cannot be used if synchronization control is used for additional
axes of a robot.
(3) The singular point passage function cannot be used if the compliance mode is valid.
(4) The singular point passage function cannot be used if the collision detection function is valid.
(5) The information collection level of the maintenance forecast function must be set to level 1 (factory
setting).
(2) Singular point passage function in jog operation
In case of jog operation, the singular point passage function is specified to be valid (1) or invalid (0) by
parameter FSPJOGMD.
FSPJOGMD
0
Same as in the past Same as in the past Same as in the past Same as in the past Same as in the past
(Factory setting)
Singular point pas-
1
sage XYZ jog
1) For robots that cannot use the singular point passage function, changing the setting value of parameter
FSPJOGMD has no effect; the same operation as in the past is performed (the models supporting the
singular point passage function are the RV-3SD/3SDJ/6SD/6SDL/12SD/12SDL/18SD series).
2) It is not possible to specify multiple axes to perform jog operation at the same time when passing a sin-
gular point. If it is attempted to operate an axis while another axis is operating, the operation is ignored.
3) A singular point adjacent alarm is generated if the robot comes near a singular point when performing jog
operation using a T/B. See
4) The specification of parameter FSPJOGMD is reflected in jog operation via dedicated input signals as
well.
(3) Singular point passage function in position data confirmation (position jump)
The specification of parameter FSPJOGMD is also reflected in position data confirmation (position jump).
FSPJOGMD
0
(Factory setting)
1
CAUTION
5-399 About singular point passage function
XYZ jog Tool jog
Singular point pas-
sage Tool jog
Page 379, "5.17 About the singular point adjacent alarm".
MO position movement
Same as in the past
Same as in the past
If an interpolation instruction (e.g., Mvs P1) is executed directly from T/B when param-
eter FSPJOGMD is set to 1 (valid), the robot operates with the singular point passage
function enabled even if the function is not made valid by the TYPE specification.
3-axis XYZ jog CYLINDER jog
Same as in the past Same as in the past Same as in the past
Same as in the past
Singular point passage position movement
JOINT jog
MS position movement