Posture Area; Additional Axis Area - Mitsubishi Electric CR750-Q Instruction Manual

(2) Posture Area

A posture area for the user-defined area is defined by specifying elements A, B and C in the parameters
AREAnP1 and AREAnP2. Set up the value based on the coordinate system selected by AREAnCS.
CAUTION
<NOTES>
1) If you proceed with operation after making a change to a world coordinate system by the Base com-
mand or the like and, in addition, select a "base coordinate system" from the coordinate system
options for the user-defined area, make area settings, taking note of the following points:
Coordinate values to be specified for elements A, B and C in the parameters AREAnP1 and
AREAnP2 must be those that were specified for the coordinate system selected in the parameter
AREAnCS.
XYZ coordinate values displayed on the T/B, RT ToolBox or the like are those that refer to the world
coordinate system. Thus, when "base coordinate system" is selected in the parameter AREAnCS,
coordinate values appearing on the display differ from those to be specified.
In this case, it is necessary to make settings either by converting the displayed coordinate values into
those for the base coordinate system or by temporarily returning the world coordinate system to its
initial state. (The base coordinate system and world coordinate system are in agreement at factory
shipping)
2) Defined area differs depending on relative locations assigned to elements A, B and C in the parame-
ters AREAnP1 and AREAnP2. (See the figure below.)
3) When the posture area is not checked, A, B, and C element of AREAnP1 will be set as -360 degree,
and A, B, and C element of AREAnP2 will be set as +360 degrees.
4) The judgments of inside or outside of the user definition area are 0.001mm and 0.001 degree unit.
Therefore, if the boundary line of the area, the judgment result may get unfixed.
[If the relative locations of posture elements are set for AREAnP2 > AREAnP1]
-180°
[If the relative locations of posture elements are set for AREAnP1 > AREAnP2]
-180°

(3) Additional Axis Area

The additional axis area for the user-defined area is defined by specifying elements L1 and L2 in the param-
eters AREAnP1 and AREAnP2.
When the additional axis area is defined, it is judged contained in the user-defined area when all of position
area, posture area and additional axis area are within the area.
<NOTES>
1) The elements of L1 and L2 in the parameter AREAnP1 and AREAnP2 are not affected by the coordi-
nate system that defined by the parameter AREAnCS.
In the 6-axis type robot, if the current coordinate value of B axis is near the +/-90
degrees, the coordinate value of A and C axes are changed a lot by even the pos-
ture movement slightly. Sign is reversed etc.
This originates in control of the robot. Therefore, if the robot is near B axis = +/-90
degrees, since the posture area judging of A and C axis may change regardless of
the robot movements, it is not suitable. Please use this posture area judging func-
tion in robot operation which the current coordinate value of B axis does not con-
sist of near the +/-90 degrees.
AREAnP2
AREAnP1
Posture definition area
姿勢定義領域
AREAnP2 AREAnP1
Posture definition area
姿勢定義領域
+180°
+180°
About user-defined area 5-477
5Functions set with parameters