Mitsubishi Electric MELFA CR750 Series User Manual page 276

No. Item
Rectifies origin data when joint axis moves or when
motor is replaced.
Error of
1 Specify the target axes using the check boxes.
joint axis
The number of teaching points is different according
to how the axis was specified.
Rectifies attachment error when robot tool is
exchanged. In addition, rectifies tool data error when
Tool
the tool is transformed due to interference between
exchange
robot and peripheral devices.
2
or
Vertical 5-axis robot:
modified
* Only Z element of position data is corrected.
Rectifies base data of robot position setup when the
robot is transferred to another location.
Vertical 5-axis robot:
Transfer
3
* Only X, Y, Z elements of position data are
the robot
corrected.
When robot is exchanged with the tools on, rectifies
origin data error and base data of robot position
setup.
Only for horizontal 4-axis robot, attachment error is
also rectified.
Vertical 6-axis robot:
* Origin data J1 is included in base data.
Vertical 5-axis robot:
* As to base data, only X, Y, Z elements are
Exchange
Corrected.
4
the robot
Horizontal 4-axis robot:
* Origin data J1 and J3 are included in base data.
* Origin data J3 and J4 are included in tool data.
* Select which to be requested because Z elements
of tool data and base data are not corrected at the
same time.
Selects all revision parameters.
Vertical 6-axis robot:
* Origin data J1 is included in base data.
* Origin data J6 is included in tool data.
Vertical 5-axis robot:
* As to tool data, only Z element is corrected.
* As to base data, only X, Y, Z elements are
corrected.
5 Select all
Horizontal 4-axis robot:
* Origin data J1 and J3 are included in basedata.
* Origin data J3 and J4 are included in tooldata.
* Select which to be requested because Z elements
of tool data and base data are not corrected at the
same time.
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Table 13-10 Selecting Revision Parameters
Description
Minimum number of teach
Revised
Vertical
Parameter
6-axis
robot
Origin data
1 to 6
points
Tool data
3 to 6
points
Base Data
6 points
Base data
Origin data
Tool data
(4-axis robot
only)
10 to
11
points
(5-axis and
6-axis robot)
(4-axis robot)
Origin data
Tool data
13 to
Base data
16
points
points
Horizo
Vertical
ntal
5-axis
4-axis
robot
robot
1 to 5 1 to 4
points points
3 to 4
1 point
points
3 4
points points
7 to 8 7 to 8
points points
8 to 9 7 to 8
points points
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