Selection Of A Coordinates System For A Free Plane Limit - Mitsubishi Electric CR750-Q Instruction Manual

5.9.2 Selection of a coordinates system for a free plane limit

This function, when the user proceeds with operation after changing the base coordinates system by a Base
command or the like, permits the user to choose between the option to move a free plane limit concurrently
or the option to keep it fixed. This choice is accomplished by specifying by the parameter SFCnCS that the
reference coordinate system is "world coordinate system" (for moving a free plane limit concurrently) or that
the same is "base coordinate system" (keeping a free plane limit fixed).
If the user does not make any change to the base coordinate system, the free plane limit remains
unchanged regardless of the choice he makes.
Refer to Page 147, "4.5 Coordinate system description of the robot"
Coordinate system
World coordinate system
(SFCnCS=0)
Base coordinate system
(SFCnCS=1)
<Select the World coordinate system (SFCnCS=0)>
Free plane limit
Base coordinate system
<Select the Base coordinate system (SFCnCS=1)>
Free plane limit
Base coordinate system
World coordinate system
When the base coordinate system is changed, the free plane limit moves concurrently. A change
occurs in the relative positional relation between the robot arm and the free plane limit.
Change of base coordinate system does not cause the free plane limit to move. Relative positional
relation between the robot arm and the free plane limit is stationary. This provision helps when the
user proceeds with operation after making a change to the base coordinate system but wants to
keep stationary relative positional relation between the robot arm and the free plane limit.
World coordinate system
for details of the coordinate system.
Explanation
The relation between a free
plane limit and the robot
changes.
Robot
Change of base coordinates
The relation between a free
plane limit and the robot
dose not change.
Robot
Change of base coordinates
The relation between the
world coordinate and base
coordinate changes.
5Functions set with parameters
Free plane limit 5-481