Mitsubishi Electric CR750-Q Instruction Manual page 471

Parameter
Parameter
name
Functional setting CMPERR
of compliance error
Current limit level CMPJCLL
for Cmp Jnt
Optimization of OLTMX
overload detection
level
Motor overheat MOHW
warning
Occurrence interval ITBATERR
of battery error
Synchronize time TIMESYNC
with PLC
(CR7xx-Q series
only)
Definition of the PRSPEC
Wait command
function
*Available soft-
ware versions
S/W Ver.
F-Q series:
R5q or later
F-D series:
S5q or later
WthIf command WTHFUNC
function
No. of arrays
No. of characters
Integer 1
Setting this parameter prevents errors 2710 through 2740 (errors
that occur if the position command generated in compliance
control is abnormal) from occurring.
1: Enable error generation
0: Disable error generation
The contents of applicable errors are as follows:
2710: The displacement from the original position command
is too large.
2720: Exceeded the joint limit of the compliance command
2730: Exceeded the speed of the compliance command
2740: Coordinate conversion error of the compliance
command
If these errors occur, compliance control is not functioning
normally. It is thus necessary to re-examine the teaching position
and the program content to correct the causes of these errors.
Change this parameter value to 0 (disable error generation) only
when you can determine that doing so does not cause any
operational problem even if the current operation is not
suspended by an error.
Integer 1
Change the motor current limit level of each axis in the
compliance mode (Cmp Jnt instruction) of the joint coordinate
system.
Setting range: 1 (High) to 10 (Low).
While operation is performed in the compliance mode of the joint
coordinate system, if the Excessive error 1 (H096n) occurs,
increase the set value of this parameter to suppress the error.
(The set valve after the change will be applied from the next exe-
cution of Cmp Jnt instruction.)
Integer 1
Set the upper limit of the ambient temperature for the robot's
working environment.
The overload detection level for robot movement is optimized
based on this setting value. (Unit: °C)
Setting range: 0-40
Please refer to
for details of this parameter's function.
Specifies whether or not to warn before a motor overheat error
occurs.
0: Disable
1: Enable
Integer 1
Specifies a time interval at which to generate a battery
exhaustion time error alarm
(in hours)
Setting range: 1 to 336
When a set value is less than 1, "1" is taken as being
specified; when a set value is greater than 336, "336" is taken
as being specified
Integer 1
Choose whether to synchronize time of the robot controller and
the PLC.
(Synchronize/ Not synchronize = 1/0)
Integer 1
Set the execution method of the Wait command.
0: Conditional command (two or more conditional expressions
can be written.)
1: Operation command (only one conditional expression can
be written.)
Integer 1
Specifies a stop type of WthIf command.
0: stop type 1
1: stop type 2
Refer to a explanation of Def Act command about the stop type.
Details explanation
Page 521, "5.22 Optimizing the overload level"
5Functions set with parameters
Factory setting
1 (Enable error
generation)
1
RH-3FH/6FH/12FH/
20FH: 40
RV-2F series: 40
RV-4F/7F/13F/20F/
50F series, RH-
3FHR: 30
1
24
0
1
0
Movement parameter 5-451