Mitsubishi Electric CR750-Q Instruction Manual page 552

5Functions set with parameters
<4>Simulated component enable/disable: CAVSCA1 to 8
Table 5-34:Simulated component setting parameter (Robot arm: CAVSCA1 to 8)
Parameter
Parameter
name
Simulated CAVSCA1 to 8
component
enable/disable
(robot arm)
2) Simulated components for hand
The parameters required to register a simulated hand are shown in
Table 5-35:Simulated component setting parameters (hand)
Parameter
Hand number and CAVKDH1 to 8
shape
(hand)
Center position of CAVPSH1 to 8
simulated compo-
nent
(hand)
6-532 Interference avoidance function
No. of arrays
No. of characters
Integer 3 Set whether to check (enable or disable)
interference for each simulated component. (Each
simulated component corresponds to the last digit
(1 to 8) of the parameter name.)
1st element: Enable/disable the setting
2nd element: Set whether to let the interference
3rd element: Fixed to 0
Parameter No. of arrays
name No. of characters
Integer 2
Real number 6
Details explanation
(0: Disable, 1: Enable)
avoidance function to temporarily
disable interference checks during
jog operation. (Refer to
canceling the interference avoidance
function.)
(0: Disable, 1: Maintain enabled
state)
Note) If interference is inevitable
during jog operation for
teaching, setting the simulated
hand or workpiece to "0:
Disable" can be convenient.
Table
Details explanation
Set the hand number and shape of a simulated hand to
be registered. Up to eight simulated hand types can be
registered. (Each type corresponds to the last digit (1 to
8) of the parameter name.)
1st element: Hand number
Corresponds to the hand condition number
for changing the simulated component with
the Loadset (Load Set)
0: Simulated component type set as default.
1 to 8: Hand condition number designated with the
Loadset (Load Set) command
2nd element: Shape
0: a sphere
1: a cylinder
For each simulated component, designate the center
position and pose of the simulated component from the
origin point of the Mechanical interface coordinate
system. (Each simulated component corresponds to the
last digit (1 to 8) of the parameter name.)
1st element: Distance in X axis direction (mm)
2nd element: Distance in Y axis direction (mm)
3rd element: Distance in Z axis direction (mm)
4th element: angle of rotation on X axis (degree)
5th element: angle of rotation on Y axis (degree)
6th element: angle of rotation on Z axis (degree)
Note) Calculate the rotation angle in order of Z → Y → X
axis. If shape is the sphere, setting of the rotation
angle is unnecessary.
Factory setting
RH-3/6/12/20FH
series:
CAVSCA1=1, 0, 0
CAVSCA2=0, 0, 0
CAVSCA3=1, 0, 0
CAVSCA4=1, 0, 0
CAVSCA5=1, 0, 0
CAVSCA6=1, 0, 0
CAVSCA7=1, 0, 0
CAVSCA8=1, 0, 0
Temporarily
RH-3FHR series
CAVSCA1=1, 0, 0
CAVSCA2=1, 0, 0
CAVSCA3=1, 0, 0
CAVSCA4=1, 0, 0
CAVSCA5=1, 0, 0
CAVSCA6=1, 0, 0
CAVSCA7=0, 0, 0
CAVSCA8=0, 0, 0
5-35.
Factory setting
Set all parameters
(CAVKDH1 to 8) to
"0, 0".
command.
Set all parameters
(CAVPSH1 to 8) to
"0, 0, 0, 0, 0, 0".
RV-F series:
CAVSCA1=1, 0, 0
CAVSCA2=1, 0, 0
CAVSCA3=1, 0, 0
CAVSCA4=1, 0, 0
CAVSCA5=1, 0, 0
CAVSCA6=0, 0, 0
CAVSCA7=0, 0, 0
CAVSCA8=0, 0, 0