Mitsubishi Electric CR750-Q Instruction Manual page 459

Parameter
Parameter
name
J1 axis offset angle J1OFFSET
Standard tool coor- MEXTL
dinates
Refer to
"4.5Coordinate
system description
of the robot",
"5.6Standard Tool
Coordinates".
Tool coordinate 1 to MEXTL1
16 :
Refer to MEXTL16
"M_Tool"
Tool base coordi- MEXBS
nates
Refer to
"4.5Coordinate
system description
of the robot",
"5.7About Stan-
dard Base Coordi-
nates"
No. of arrays
No. of characters
Real value 2 Specify the J1 axis offset angle for vertical 5-axis type robot.
This setting is invalid for other types of robot.
Note) Since the J1 axis direction is changed from J1=0 degree
(front direction) by specifying parameter J1OFFSET, the
joint movement range (MEJAR) is automatically corrected.
Please note that the joint movement range of J1 axis
cannot be changed while parameter J1OFFSET is set.
Element 1: Specify whether to enable/disable this function. Set
1.0 to enable, or 0.0 to disable this function.
Element 2: Specify the offset angle. The J1 axis direction is
shifted by the set angle from J1=0 degree (X axis).
(Unit: deg.)
+Y
When parameter J1OFFSET is set, the origin setting is required
in the J1 axis. Set the origin by procedure below. Refer to the
separate manual: "Robot arm setup & maintenance" for details
of the origin setting.
1) Set the value to the parameter J1OFFSET.
2) Power ON the controller again.
3) Align the J1 axis with zero degree position.
4) Perform J1 origin setting by jig method
5) Display the joint coordinate values in T/B's jog screen, and
confirm that the angle of J1 axis is what was set up at 1).
6) Record the changed origin data to the followings.
- Origin data label inside of the robot.
- Origin data document (BFP-A5789)
Real value 6 Initial values will be set for the hand tip (control point) and the
mechanical interface (hand mounting surface). The factory
default setting is set to the mechanical interface as the control
point. Change this value if a hand is installed and the control
point needs to be changed to the hand tip.
(This will allow posture control at the hand tip for XYZ or tool jog
operation.)
(X, Y, Z, A, B, C) Unit: mm, ABC deg.
Real value 6 If the M_Tool variable is substituted by 1 to 16, the tool data can
each be switched using this parameter value each.
Real value 6 Sets the positional relationship between the base coordinate
system and the robot coordinate system. The factory default set-
ting is set so that the base coordinate system and the robot coor-
dinate system are identical.
This will be set when the coordinate system for the whole device
is changed. This parameter does not need to be changed very
often. This is set when the coordinate system for the whole
device is to be identical.
(X, Y, Z, A, B, C) Unit: mm, ABC deg.
Note) The value cannot be changed during program execution or
pausing.
Details explanation
Setting range: -360 <= [Element 2] <= +360
+X(J1=0)
J1OFFSET
+
+Y'
O
5Functions set with parameters
Factory setting
0.0,0.0
+X'(J1=0)
-
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
(X,Y,Z,A,B,C) =
0.0,0.0,0.0,0.0,0.0,0
.0
Movement parameter 5-439