Mitsubishi Electric CR750-Q Instruction Manual page 485

Parameter
Parameter
name
Continue function CTN
JRC command Set the execution status of the JRC instruction.
(Multiple rotation
JRCEXE
function of axes)
JRCQTT
JRCORG
Setting of addi- AXUNT
tional axis
No. of arrays
No. of characters
Integer 1 For only the program execution slot 1, the state when the power
is turned OFF is held, and the operation can be continued from
the saved state when the power is turned ON next. The saved
data is the program execution environment (override, execution
step line, program variables, etc.), and the output signal state.
When this function is valid, if the robot is operated when the
power is turned OFF, the robot will start in the standby state
when the power is turned ON next. To continue operation, turn
the servo power ON, and input start. (Function invalid/Valid=0/
1)
<Precautions>
(1)As for robots with axes without brakes, the arm may lower
due to gravitational weight or rotate itself when the power is
turned off. Thus, extra care is necessary when using this
function.
(2)Program that can continue using the Continuity function is the
one loaded in task slot 1. Programs in task slot 2 or subse-
quent slots will not continue but will restart in program reset
state.
(3)The following parameters cannot be changed after this func-
tion is enabled. Be sure to change them, if necessary, prior to
enabling this function.
SLTn, SLOTON, TASKMAX.
(4)If parameters in the slot table (SLT*) are changed after
enabling this function, the changes are not reflected in the
slot table. Disable the continue function once, turn the power
supply off and then on, and then change parameters in the
slot table.
(5)High-speed RAM mode and continue function cannot be
used together.
If continue function is valid, high-speed RAM mode (ROM-
DRV parameter) should be invalid.
Integer 1 Set the validity of the JRC command execution.
Execution valid/invalid = (1/0)
Real value 8 Set the change amount to increment or decrement with the JRC
command in the order of J1, J2, J3 to J8 axes from the head
element.
The setting is valid only for the user-defined axis, so the J7 and
J8 axes will be valid for the robot's additional axis, and a random
axis for the mechanism's additional axis.
The unit relies on the parameter AXUNT.
Real value 8 Set the origin coordinate value for executing the JRC O com-
mand and setting the origin.
This setting is valid only for the user-defined axis.
The unit relies on the parameter AXUNT.
Integer 16 Set the unit system for the additional axis.
Angle(degree)/Length(mm) = 0/1
5Functions set with parameters
Details explanation
Command parameter 5-465
Factory setting
0(Invalid)
0(Execution
invalid)
JRC execution
valid robot
0,0,0,0,0,360,0,0
or
0,0,0,360,0,0,0,0
JRC execution
invalid robot
0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0
0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0