Support Of Additional Axes - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters

5.24.5 Support of additional axes

If the robot uses additional axes, the interference avoidance function can be set to consider the movement
of the additional axis by setting the additional axis synchronous control parameter. (Only linear axis such as
locomotion axis.)
Refer to Table 5-38
Note) Set the traveling axis coordinate as "0" for the positional relation between robots, which are explained
in a later section,
Fig.5-23:Example of using locomotion axis
Table 5-38:Additional axis synchronous control parameter
Parameter
Interference CAVAXJNO
avoidance addi-
tional axis (loco-
motion axis)
number
Additional axis AXDIR
Synchronization
direction
6-536 Interference avoidance function
and set the parameter according to the usage state.
"5.24.7Calibration between robots (Checking for interference between
Locomotion axis + direction
Locomotion axis
図
Parameter No. of arrays
name No. of characters
Integer 1
Real number 3
Robot +X axis
Robot +Y axis
Robot arm
In this case, parameter AXDIR is set to 0.0, 0.0, -90.0.
(-90 degree rotation around robot's Z axis.)
Details explanation
Set up the axial number of the additional axis (locomotion axis)
made into the target of interference avoidance.
The interference check is not made other than 7 and 8 axes.
Setting value: 0, 7 or 8
Convert the coordinate using the locomotion axis' +
direction as the X axis to the coordinate of the robot
coordinate system.
1st element: Rotation angle around X axis
2nd element: Rotation angle around Y axis
3rd element: Rotation angle around Z axis
Note) As the default, the robot X axis matches the
locomotion axis' + direction.
robots)".
Factory setting
0
0.0, 0.0, 0.0