Mitsubishi Electric CR750-Q Instruction Manual page 555

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Note) The figure is an example of a vertical 6-axis robot.
In horizontal 4-axis robot is the same.
Table 5-37:Details of free plane limit registration
Parameter and value
SFCnP(n=1 to 8)
CAVSCFn(n=1 to 8)
P３
Specifies the 3 points that define the plane.
P1 coordinates X1, Y1, and Z1: The origin of the plane
P2 coordinates X2,Y2,Z2: A position on the X axis of the plane
P3 coordinates X3,Y3,Z3: A position in the positive Y direction of the X-Y plane in the plane
Specifies the valid/Invalid of checking for interference with the set free plane limit.
0:Invalid (default)
1: Valid
5Functions set with parameters
As can be seen in the diagram to the left, any
plane can be defined by three points (P1, P2, and
P3).
Explanation
Interference avoidance function 6-535