Robot Parameter Setting - Mitsubishi Electric CR750-D Series Instruction Manual

6.1.2.

Robot Parameter Setting

After the installation of Q173DPX module and connection with the encoder are complete, use the following steps to
establish robot CPU parameters.
(1) Set a parameter TRMODE to 1, validate a function of tracking.
(2) Specify the channel to which the encoder is connected using a parameter EXTENC.
(3) In the case of Q type, Using parameter ENCUNT* (*=1 to 3), designate the slot in which Q173DPX module
under the control of robot CPU is installed.
(4) Reset a power supply and reflect a parameter.
Parameter
Parameter
name
Tracking mode TRMODE
Encoder EXTENC
number
allocation
(*1)
Table 6-1 Tracking Parameter Setting
Number
of
elements
1 integer Enable the tracking function
Please set it to "1" when you use the tracking
function.
0: Disable/1: Enable
8 Set connection destinations on the connector for
integers encoder numbers 1 to 8.
Parameter elements correspond to encoder number
1, encoder number 2 ... encoder number 8 of a state
variable "M_Enc" from the left.
Setting value is input encoder physics number from below
list.
Encoder
physics
number
1
2
3
4
5
6
7
8
In the case of Q type, it is convenient to check the
status variable "M_Enc" when determining the
setting value of the "EXTENC" parameter.
In the case of D type, The value of the encoder
which wired the channel 1 in case of the standard
encoder input connector [CNENC] for the robot
controller is equipped with the encoder cable with
initial setting, The value of the encoder which wired
the channel 2 by the status variable "M_Enc (1)",
"M_Enc (3)", "M_Enc (5)", and "M_Enc (7)",It can
confirm by the status variable "M_Enc (2)", "M_Enc
(4)", "M_Enc (6)", and "M_Enc (8)."
Please refer to "10.1.2 List of Robot Status
Variables" for the explanation of state variable
"M_Enc".
Please refer to "Detailed Explanations of Functions
and Operations" for how to check the status variable.
Explanation
Connection channel
Q
st
1 channel of
Parameter ENCUNIT1
nd
2 channel
rd
3 channel
st
1 channel of
Parameter ENCUNIT2
nd
2 channel
rd
3 channel
st
1 channel of
Parameter ENCUNIT3
nd
2 channel
Tracking Parameter Setting 6-31
6 Parameter Setting
Value set at
factory
shipping
0 → 1
[Q type]
1,2,3,4,5,6,7,8
[D type]
1,2,1,2,1,2,1,2
↓
Change the
set value
D
according to
the situation.
Standard
CH1
Standard
CH2
-
-
-
-
-
-