Registering The Simulated Components For Interference Check - Mitsubishi Electric CR750-Q Instruction Manual

5Functions set with parameters
<CR750-Q/CR751-Q controller>
Robot CPUs communicate via
iQ shared memory
Personal computer
(RT-ToolBox2)
Connected to robot
CPU with USB, etc.
Fig.5-16:Connecting the devices (CR750-Q/CR751-Q controller)

5.24.3 Registering the simulated components for interference check

Register simulated components to be checked for interference (hereinafter, "simulated components") using
the robot arm as a reference point.
<RH-F series>
Simulated workpiece
Fig.5-17:Example of simulated component registration
The required registration details are shown in
registered for each of the robot arm, hand and workpiece.
Table 5-30:Details of simulated component registration
Setting items for
simulated component
Relationship
・
Robot arm:
Set where in the robot
arm a simulated com-
ponent is registered to.
・
Hand, workpiece:
Set the number for
each simulated compo-
nent (hand No., work-
piece No.).
6-526 Interference avoidance function
Simulated robot arm
(Early models are regis-
tered as a default)
Simulated hand
Simulated robot arm
Set how each registered simu-
lated component constitutes the
Jn axis.
(Set whether a simulated com-
ponent constitutes in the base
section, the Jn axis section, or
the flange section.)
Note) The shape of a simulated
component is a sphere
and a cylinder.
Parameters: CAVKDA1 to 8
Drive unit
Note) This figure shows an example of connecting one robot.
<RV-F series>
Simulated hand
Simulated workpiece
* The figure shows a screen image (setting example) from the RT
ToolBox2. The shape of a simulated component is a sphere and a
cylinder. The simulated components for hand and workpiece must
be registered by the user.
Table 5-30. Up to eight simulated component types can be
Simulated component type
Note1)
Simulated hand
The set hand number is inter-
linked to the hand condition
number for the Loadset (Load
Set) command.
Note) The shape of a simulated
component is a sphere
and a cylinder.
Parameters: CAVKDH1 to 8
The simulated hand and workpiece subject to the interference check
can be changed dynamically with the LoadSet command.
Robot arm
Simulated workpiece
The set workpiece number is
interlinked to the workpiece con-
dition number for the
(Load Set) command.
Note) The shape of a simulated
component is a sphere and
a cylinder.
Parameters: CAVKDW1 to 8
Loadset