Mitsubishi Electric MELFA CR750 Series User Manual page 16

8.12. Program Conversion ................................................................................................................. 8-144
8.12.1. Starting program conversion ............................................................................................. 8-144
8.12.2. Line number conversion (from MELFA-BASIC IV to MELFA-BASIC V) ............................ 8-145
8.12.3. Position data conversion (from E/EN/M1/M2 series to CR750/700/500 series) ............... 8-147
9. Position data editing for SQ Direct
9.1. Diffence from program editting .................................................................................................. 9-150
9.1.1. Add/Edit position data ........................................................................................................ 9-150
9.1.2. Delete position data ........................................................................................................... 9-150
9.1.3. Editing supporting function ................................................................................................ 9-150
9.2. Online editing ............................................................................................................................ 9-151
9.3. Offline editing ............................................................................................................................ 9-152
9.3.1. Creating the new SQ Direct file ......................................................................................... 9-152
9.4. Program management .............................................................................................................. 9-153
9.4.1. List of SQ Direct files indication ......................................................................................... 9-154
10. Creating the spline files
10.1. New file ................................................................................................................................... 10-156
10.1.1. Creating a new file on the computer ................................................................................ 10-156
10.1.2. Creating a new file in the robot controller ........................................................................ 10-156
10.2. Open file .................................................................................................................................. 10-157
10.2.1. Opening a spline file saved on the computer .................................................................. 10-157
10.2.2. Opening a spline file saved in the robot controller .......................................................... 10-157
10.2.3. Selecting and opening a spline file from the list .............................................................. 10-157
10.3. Save file .................................................................................................................................. 10-158
10.3.1. Save ................................................................................................................................ 10-158
10.3.2. Save as ............................................................................................................................ 10-158
11. Setting Parameters
11.1. Editing from parameter list ....................................................................................................... 11-160
11.1.1. Starting ............................................................................................................................. 11-160
11.1.2. Parameter editing ............................................................................................................. 11-162
11.1.3. Edit of parameter changed from initial value .................................................................... 11-163
11.1.4. Parameter list reading ...................................................................................................... 11-164
11.1.5. Finding parameters ........................................................................................................... 11-164
11.2. Robot Controller Operation Modes for Parameter Writing ....................................................... 11-165
11.3. Movement Parameters ............................................................................................................. 11-166
11.3.1. Motion limit parameter ...................................................................................................... 11-166
11.3.2. Jog parameter .................................................................................................................. 11-167
11.3.3. Parameters of the Hand ................................................................................................... 11-168
11.3.4. Weight and size parameter ............................................................................................... 11-170
11.3.5. Tool parameter .................................................................................................................. 11-171
11.3.6. User-defined area parameter ........................................................................................... 11-172
11.3.7. Free plane limit parameter ................................................................................................ 11-173
11.3.8. Home position parameter ................................................................................................. 11-173
11.3.9. Robot additional axis parameter ....................................................................................... 11-174
11.3.10. Collision detection parameter ........................................................................................... 11-175
11.3.11. Warm-up operation parameter ......................................................................................... 11-176
11.3.12. Movement parameter ....................................................................................................... 11-177
11.3.13. Work coordinate paramater .............................................................................................. 11-178
11.3.14. Parameters of Force control ............................................................................................. 11-179
11.3.15. Parameters of Collision avoidance ................................................................................... 11-184
11.3.16. Parameters of Safety ........................................................................................................ 11-187
11.4. Program Parameters ................................................................................................................ 11-191
11.4.1. Slot table parameter ......................................................................................................... 11-191
11.4.2. Program language parameter .......................................................................................... 11-192
11.4.3. Command parameter ........................................................................................................ 11-192
11.4.4. User error parameter ........................................................................................................ 11-193
11.5. Signal Parameters .................................................................................................................... 11-194
11.5.1. Output signal reset pattern parameter .............................................................................. 11-194
11.5.2. Assigning Dedicated Input/Output Signals ....................................................................... 11-195
9-149
10-156
11-159