Functions Set With Parameters; Movement Parameter - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters

5 Functions set with parameters
This controller has various parameters listed below. It is possible to change various functions and default
settings by changing the parameter settings.
No. Classification
1

Movement parameter

2 Signal parameter
3 Operation parameter
4 Command parameter
5 Communication parameter
For the parameters regarding dedicated I/O signals, refer to
After changing the parameters, make sure to turn the robot controller's power OFF and then turn ON.
Parameter settings will not be in effect until the power is turned on again. For detailed operating method for
parameters, refer to
CAUTION
5.1 Movement parameter
These parameters set the movement range, coordinate system and the items pertaining to the hand of the
robot.
Table 5-1:List Movement parameter
Parameter
Joint movement MEJAR
range
XYZ movement MEPAR
range
Narrow angle/Wide MELTEXS
angle limit function
* Only RV-4F/7F/
13F/20F series
5-438 Movement parameter
These parameters set the movement range, coordinate system and the items
pertaining to the hand of the robot.
These parameters set the items pertaining to signals.
These parameters set the items pertaining to the operations of the controller, T/
B and so forth.
These parameters set the items pertaining to the robot language.
These parameters set the items pertaining to communications.
Page 83, "3.15 Operation of parameter
When changing parameters, check thoroughly the function and setting values first.
Otherwise, the robot may move unexpectedly, which could result in personal injury or
property damage.
Parameter
No. of arrays
name No. of characters
Real value 16 Set the overrun limit value for the joint coordinate system.
Real value 6 Set the overrun limit value for the XYZ coordinate system.
Integer 1
Content
Page 552, "6.2 Sequencer link I/O
screen".
Details explanation
Sets the movement range for each axis. Expanding of the move-
ment range is not recommended, since there is possibility that
the robot may strike the mechanical stopper.
Note) Please note that the joint movement range of J1 axis can-
not be changed after the J1 axis offset angle (J1OFFSET)
is specified in vertical 5-axis type robot.
Set the minus and plus directions. (-J1,+J1,-J2,+J2,......-J8,+J8)
Unit:deg
The movement range of the robot will be limited based on XYZ
coordinate system. This can be used to prevent the robot from
striking peripheral devices during manual operation when the
robot is installed within the device.
Set the minus and plus directions. (-X,+X,-Y,+Y,-Z,+Z) Unit:mm
The function protected so that the robot arm head may not
interfere with the base is operating. Designate the valid/invalid
of this function.
Sets "0" to this parameter, when it is necessary to move the
head of arm near the base. In this case, take care that the arm
head and the base do not interfere.
Refer to Operating range diagram in separate manual: "Standard
Specifications" about area of Narrow angle/Wide angle limit.
0:Invalid
1: Valid
Reference
Page 438
Page 453
Page 459
Page 463
Page 468
function".
Factory setting
Setting value for
each mechanism
(-X,+X,-Y,+Y,-
Z,+Z)=
-10000,10000,
-10000,10000,
-10000,10000
1(Valid)
Only RV-4F/7F/
13F/20F series.
Other types are 0
(invalid).