Mitsubishi Electric CR750-Q Instruction Manual page 492

5Functions set with parameters
A case for a horizontal 4-axis robot
mechanical interface
Default tool coordinate system:
Xt, Yt, Zt
An axis element of the tool conversion data may or may not be valid depending on the robot model.
See Table 5-8 to set the appropriate data.
Table 5-8:Valid axis elements of the tool conversion data depending on the robot model
Type
RV-2F, RV-4F series, RV-7F
series, RV-13F series, RV-20F,
RV-50F series
RV-4FJL
RH-3FH/6FH/12FH/20FH series,
RH-3FHR series
Note1) : Valid, △ : Unused. This is meaningless and ignored if set., × : The setting value is fixed to 0.
○
If a value other than 0 is set, operation may be adversely affected.
5-472 Standard Tool Coordinates
Zt
Yt
Xt
Xw
World coordinate system: Xw, Yw, Zw
Number of
axis
X
6
○
5
△
4
○
Zw
Yw
An axis element of the tool conversion data
Y Z
○ ○
△ ○
○ ○
<A case for a horizontal 4-axis robot>
1) Sample parameter setting
Parameter name: MEXTL
Value: 0, 0, -10, 0, 0, 0
2) Sample Tool instruction setting
1 Tool (0,0,-10,0,0,0)
Horizontal 4-axis robots can basically
offset using parallel shifting. Note that
the orientation of the tool coordinate
system is set up differently from that
of vertical robots.
Note1)
A B
○ ○
△ △
△ △
C
○
×
○