Mitsubishi Electric MELFA FR CR800 Series User Manual page 359

Condition
When using posture elements of position
data
When not using posture elements of
position data
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Table 15-11 About Posture Elements of Re-teaching Position Data
Merit
Precision of generated
revision parameter
improves if the tip position
(X, Y, Z) and tip posture
elements are re-taught
correctly.
During re-teaching,
revision parameters can be
generated simply by
correctly teaching position
(X, Y, Z).
(Posture elements need
not be accurate.)
Note
During re-teaching, posture must
be taught correctly. If posture
data is incorrect, precision of
revision parameter actually
decreases.
In vertical 6-axis robots:
* Posture elements (A, B, C) of
tool revision parameters cannot
be obtained.
* The J6 axis of origin revision
parameters cannot be
obtained if both X and Y
components of the tool
parameter are 0.0.
In vertical 5-axis robots:
* The J6 axis of origin revision
parameters cannot be
obtained.
In horizontal 4-axis robots :
* Posture elements (C) of tool
revision parameters cannot be
obtained.
* The J4 axis of origin revision
parameters cannot be
obtained if both X and Y
components of the tool
parameter are 0.0.
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