List Of Parameters - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

4Software

4.2 List of parameters

Show the main parameter in the
Table 4-2 ： List of parameters
Parameter
Standard tool coordinates.
Standard base coordinates
XYZ operation range
JOINT operation range
Free plane limit
User-defined area
Automatic return setting
Buzzer ON/OFF
Jog setting
Jog speed limit value
Hand type
Stop input B contact desig -
nation
List of parameters
4-125
Table 4-2.
MEXTL Set the default value for the tool data.
Unit: mm or deg.
MEXBS Set the relation of the world coordinate system and robot coordinate system.
Unit: mm or deg.
MEPAR Designate the overrun limit value for the world coordinate system.
MEJAR Set the overrun limit value for each joint axis.
This is the overrun limit set with the free plane.
Create a plane with the three coordinates x1, y1, z1 to x3, y3, z3, and set the outer side of
the plane as the outside operation range (error). The following three types of parameters are
used.
SFC1P Eight types of free plane limits can be set in SFC1P to SFC8P.
: There are nine elements, set in the order of x1, y1, z1, x2, y2, z2, x3, y3, z3.
SFC8P
SFC1ME Designate which mechanism to use eight types of set free plane limits.
: The mechanism No. to use is set with 1 to 3.
SFC8ME
SFC1AT Set the validity of the eight types of set free plane limits.
: (Valid 1/Valid 2/invalid = 1/-1/0)
SFC8AT
An area (cube) defined with two XYZ coordinate points can be designated and that area set
as the outside operation range. Furthermore, a signal can be output when the axis enters
that area. Up to 32 types of area can be designated.
AREA1CS Specify the coordinate system of the user definition area *.
: 0: Base coordinate system (conventional compatibility)
AREA32CS 1: Robot coordinate system
AREA1P1 Designated the 1st point of the area.
: There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA32P1 (L1 and L2 are the additional axes.)
AREA1P2 Designated the 2nd point of the area.
: There are eight elements, set in the order of x, y, z, a, b, c, L1, L2.
AREA32P2 (L1 and L2 are the additional axes.)
AREA1ME Designate which mechanism to use the 32 types of set area.
: The mechanism No. to use is set with 1 to 3.
AREA32ME
AREA1AT Designate the area check type.
: (Invalid/zone/interference = 0/1/2)
AREA32AT Zone: The dedicated output signal USRAREA turns ON.
Interference: An error occurs..
RETPATH Set to restart the program after returning to the interrupt position when resuming operation
after an interruption.
BZR Designate whether to the turn buzzer ON or OFF.
JOGJSP Designate the joint jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGPSP Designate the linear jog and step operation speed.
(Set dimension H/L amount, max. override.)
JOGSPMX Limit the operation speed during the teaching mode. Max. 250[mm/s]
HANDTYPE Set the hand type of the single/double solenoid, and the signal No.
(Single/double = S/D)
Set the signal No. after the hand type. Example) D900
INB Change the dedicated input (stop) to either of normal open or normal close.
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