Operation Parameters - Mitsubishi Electric CR800 Series Instruction Manual

6 Parameter Setting

Operation Parameters

6.2.
The following list the setting items of parameters required to operate the robot at the optimal
acceleration/deceleration.
Parameter name
Tool A parameter "MEXTL" designates a coordinate system of a tool
coordinate system
installed in the mechanical interface side of the robot (hand).
(MEXTL)
For example it's possible to move and revolve based on a tip of a
hand.
(*1)
Tool data 1 - 16 I can point out the tool data for 16 as needed.
(MEXTL1 - 16)
For example when changing a hand by a multi-hand and a hand
changer, it's possible to establish and change the respective tool
(*1)
coordinate systems.
Optimal Specify hand weight and so on to make settings that allow optimal
acceleration/ acceleration/deceleration operations.
deceleration hand For example, if the hand weighs 3 kg, changing the weight setting
data value from 10 kg to 3 kg makes the robot movement faster.
(HANDDAT1) (Hand weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
Optimal Specify workpiece weight and so on to make settings that allow
acceleration/ optimum acceleration/deceleration operations.
deceleration If a workpiece is grabbed via the HClose instruction, the
workpiece data acceleration/deceleration becomes slower. If a workpiece is
(WRKDAT1) released via the HOpen instruction, acceleration/deceleration
becomes faster.
(Workpiece weight (kg), size (mm) X, Y, Z, gravity (mm) X, Y, Z)
(*1) Refer to "8.1.1 Setting of tool length" (high speed and accuracy tracking function) or "12.1.1 Setting of tool
length" (circular arc tracking function) about setting of a tool length.
6-46 Operation Parameters
Table 6-3 List of Operation Parameter
Explanation Reference value
Defaults:
(0,0,0,0,0,0,0)
For example:
(0,0,+80,0,0,0,0)
Defaults:
(0,0,0,0,0,0,0)
For example:
(0,0,+80,0,0,0,0)
(3,0,0,0,0,0,0)
The setting values
are different for
each robot model.
Use these values
as reference only.
(1,0,0,0,0,0,0)
The setting values
are different for
each robot model.
Use these values
as reference only.