Mitsubishi Electric CR750-Q Instruction Manual page 461

Parameter
Parameter
name
User area AREA*P2
* is 1 to 32
AREA*ME
* is 1 to 32
AREA*AT
* is 1 to 32
No. of arrays
No. of characters
Real value 8 Designates position coordinates of the diagonal point 2 of the
user-defined area * and coordinates of posture data/additional
axes. Definitions are given, starting with the 1st element, to X, Y,
Z, A, B, C, L1, and L2 in the order listed.
Item
X, Y, Z
elements
A, B, C
elements
L1, L2
elements
<NOTES>
*Specify values in the coordinate system which was designated
by AREA*CS.
*If a posture check is not to be made, set A, B and C coordinates
to +360.
*If additional axes are used, specify elements L1 and L2.
*In regard to elements X, Y, Z, L1 and L2, defined area remains
unchanged if parameter interchange is made to AREA*P1.
Integer 1 Designate the mechanism No. for which the user-defined area*
is to be validated.
The mechanism No. is 1 to 3, but normally 1 is set.
0: Invalid (Don't do the area check)
1: Mechanism 1 (usually set up)
2: Mechanism 2
3: Mechanism 3
Integer Specify desired behavior when the robot enters the user-defined
1Outside of the area.
area 0: Invalid (This function will be invalid)
1: In-zone signal output (The dedicated output and the status
variable output)
2: Error output.
<Details of the setting>
Setting
Signal The dedicated output
output signal ON (*1)
Turn on the correspon-
dence bit of the status
variable. (*2)
Error The stop by the error
output output (H2090 error
occurrence)
*1: Set up the signal number of the dedicated I/O by USRAREA
*2: System status variable (M_Uar32, M_Uar)
<NOTES>
If error output is opted for, a check is performed only in the posi-
tion area, ignoring the posture area and additional axis area.
Details explanation
Details
Specify position coordinates of the
diagonal point 2.
Specify posture area.
Specify additional axis area.
Inside of the area Outside of the area
The dedicated output
signal OFF
Turn off the correspon-
dence bit of the status
variable.
5Functions set with parameters
Factory setting
(X,Y,Z,A,B,C,L1,L2)
= 0.0, 0.0, 0.0,
-360.0, -360.0,
-360.0, 0, 0
Unit
mm
deg
mm,
deg
0
0(Invalid)
-
Movement parameter 5-441