Mitsubishi Electric CR750-Q Instruction Manual page 463

Parameter
Parameter
name
Align type selection ALIGNTYP
Origin setting com- MEINST
pletion status
Pulse number for MEINSZ
the origin setting
Pulse position MEOFFZ
within one revolu-
tion for the origin
setting
Check data for the MEINSD
origin setting
Mechanical stopper MORG
origin
User-designated USERORG
origin
Select the function MESNGLSW
of singular point
adjacent alarm
Refer to "5.17About
the singular point
adjacent alarm"
Jog setting JOGJSP
JOGPSP
Jog speed limit JOGSPMX
value
No. of arrays
No. of characters
Integer 1 Specifies how to find the hand posture used for the hand align-
ment movement and the Align function. The robot performs the
hand alignment movement toward its hand posture. The Align
function returns the XYZ coordinate values set for the hand
alignment.
0: Normal
For each of the A, B, and C components of the XYZ coordi-
nate posture, find the closest XYZ postures (0 degree, +/-90
degrees, and +/-180 degrees).
Specify this method for the RV-type robot.
1: Cylindrical
Find the position whose posture axis (C) is changed along
the straight line connecting the origin ((x, y)=(0, 0)) and the
control point.
When the workpiece is arranged cylindrically for the RH-type
robot, this method may be useful.
Do not specify this method for the RV-type robot.
2 or later: Reserved
Integer 1 Indicates the origin setting completion status.
By setting the origin, this parameter is automatically set.
Integer 8 Sets the number of pulses at 0 position for the origin setting.
By setting the origin, this parameter is automatically set.
Integer 8 Sets the pulse position within one revolution at 0 position for the
origin setting.
By setting the origin, this parameter is automatically set.
Integer 1 Sets the check data for MEISZ.
By setting the origin, this parameter is automatically set.
Real value 8 Designate the mechanical stopper origin.
(J1,J2,J3,J4,J5,J6,J7,J8) Unit:deg
Real value 8 Designate the user-designated origin position. This normally
does not need to be set.
(J1,J2,J3,J4,J5,J6,J7,J8) Unit:deg
Integer 1 Designate the valid/invalid of the singular point adjacent alarm.
(Invalid/Valid=0/1)
When this parameter is set up "VALID", this warning sound is
buzzing even if parameter: BZR (buzzer ON/OFF) is set up
"OFF".
Real value 3 Designate the joint jog and step operation speed.
(Inching H, inching L, maximum override.)
Inching H: Feed amount when jog speed is set to High Unit: deg.
Inching L: Feed amount when jog speed is set to Low Unit: deg.
Maximum override: Operates at OP override x maximum over-
ride.
Real value 3 Designate the XYZ jog and step operation speed.
(Inching H, inching L, maximum override.)
Inching H: Feed amount when jog speed is set to High
Unit: deg.
Inching L: Feed amount when jog speed is set to Low
Unit: deg.
Maximum override: Operates at OP override x maximum over-
ride.
Operation exceeding the maximum speed 250 mm/s cannot be
performed.
Real value 1 Limit the robot movement speed during the teach mode.
Unit: mm/s
Even if a value larger than 250 is set, the maximum value will be
limited to 250.
5Functions set with parameters
Details explanation
Movement parameter 5-443
Factory setting
0
0
0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0
0
It varies with models.
It varies with models.
1(Valid)
Setting value for
each mechanism
Setting value for
each mechanism
250.0