Position Repair Function - Mitsubishi Electric MELFA CR750 Series User Manual

13.4.

Position repair Function

The position repair function is restricted by the usable models and controller software versions. See "Table
13-9 Supported Robot Controllers and Model".
The "position repair function" is used when a tool is deformed by a collision or the origin is out of place
because the motor has been replaced. Just reteaching part of the position data within the robot program
makes it possible to use the previous position data in the controller. (Position repair generates parameters to
correct the position deviation and corrects all the position data in the robot controller.)
However, please understand that there are some cases that position repair can not restore, such as
applications requiring high precision and major mechanical damage to a robot from a collision.
Also, restrictions on a robot's degrees of freedom can make it impossible to recover with position repair.
Since vertical 5-axis robots and horizontal 4-axis robots are restricted as shown in "Table 13-8 The limit by
degree of freedom", positional deviations related to these restrictions can not be corrected with this function.
In this case, either reteach manually or correct the deviating section (for example, by replacing a bent hand).
No. Robot model
1 Vertical 5-axis robot
2 Horizontal 4-axis robot
Caution
The position repair function is only supported
The position repair function is only supported by MELFA-BASIC IV and MELFA-BASIC V. It cannot be
used with Movemaster commands.
Caution
When the password is registered in "parameter" or "file" by robot
controller's security function, it is not possible to operate Position repair
Function.
When the password is registered in "parameter" or "file" by robot controller's security function, it is
not possible to operate Position repair Function.
Position repair Function
Please delete the password of robot controller's security function when you operate these.
Please refer to "13.7.3 Delete the Password" for the method of deleting the password.
The setting(register the password) and the release(delete the password) of robot controller's
security function can be used with this software version 2.0 or later. Please refer to "Table 13-15
Compliant version of this function and controller" for robot controller's compliant version.
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Table 13-8 The limit by degree of freedom
The limit by degree of freedom
It can't move in the direction of C element of the Cartesian
position.
It can't move in the direction of A, B element of the
Cartesian position.
by MELFA-BASIC IV and MELFA-BASIC V.
Item to which password of security function is registered.
Program
○
○ : Enable、 × : Disable
Parameter
×
File
×
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