Mitsubishi Electric CR750-Q Instruction Manual page 318

4MELFA-BASIC V
Tool(Tool)
[Function]
Designates the tool conversion data. This instruction specifies the length, position of the control point from
the mechanical interface, and posture of the tools (hands).
[Format]
Tool[]<Tool Conversion Data>
[Terminology]
<Tool Conversion Data>
[Reference Program]
(1) Set up the direct numerical value.
1 Tool (100,0,100,0,0,0)
2 Mvs P1
3 Tool P_NTool
(2) Set up the position variable data in the XYZ coordinates system.
(If (100,0,100,0,0,0,0,0) are set in PTL01, it will have the same meaning as (1).)
1 Tool PTL01
2 Mvs P1
[Explanation]
(1) The Tool command is used to specify the control points at the tip of each hand in a system using double
hands. If both hands are of the same type, the control point should be set by the "MEXTL" parameter
instead of by the Tool command.
(2) The tool conversion data changed with the Tool command is saved in parameter MEXTL, and is saved
even after the controller power is turned OFF.
(3) The system default value (P_NTool) is applied until the Tool command is executed.
Once the Tool command is executed, the designated tool conversion data is applied until the next Tool
command is executed. This is operated with 6-axis three-dimension regardless of the mechanism struc-
ture.
(4) If different tool conversion data are used at teaching and automatic operation, the robot may move to an
unexpected position. Make sure that the settings at operation and teaching match.
The valid axis element of tool conversion data is different depending on the type of robot.
Set up the appropriate data referring to the
sion data depending on the robot
(5) Using the M_Tool variable, it is possible to set the MEXTL1 to 16 parameters as tool data.
[Related parameter]
MEXTL, MEXTL 1 to 16 Refer to
[Related system variables]
P_Tool/P_NTool,
4-298 Detailed explanation of command words
Specifies the tool conversion data using the position operation expression.
(Position constants, position variables, etc.)
model".
Page 471, "5.6 Standard Tool Coordinates"
M_Tool
' Changes the control position to an X-axis coordinate value of
100 mm and a Z-axis coordinate value of 100 mm in the tool
coordinate system.
' Returns the control position to the initial value.
(mechanical interface position, flange plane.)
Page 472, "Table 5-8: Valid axis elements of the tool conver-
for detail.