Configuration Flag - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix

7.2 Configuration flag

The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and
C. However, even with the same position data, there are several postures that the robot can change to. The
posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X,
Y, Z, A, B, C) (FL1, FL2).
The types of configuration flags are shown below.
*For vertical multi-joint type robot
(1) Right/Left
R is center of flange in comparison with the plane through the J1 axis vertical to the ground. (5-axis type
robot)
P is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground. (6-axis
type robot)
RIGHT
R
J1 axis
rotation center
J1軸
回転中心
5-axis type
５軸タイプ
Fig.7-1:Configuration flag (Right/Left)
(2) ABOVE/BELOW
P is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis.
Fig.7-2:Configuration flag (ABOVE/BELOW)
Appendix-608 Configuration flag
LEFT
J1 axis
rotation center
BELOW
ABOVE
P
Ｑ
5-axis type/6-axis type
RIGHT
P
J1軸
回転中心
6-axis type
６軸タイプ
J3 axis
Rotation center
J2 axis
Rotation center
LEFT
FL1(Flag1)
&B 0 0 0 0 0 0 0 0
↑
1/0 = Right/Left
Note) "&B" is shows the binary
* The illustration is an example.
FL1(Flag1)
&B 0 0 0 0 0 0 0 0
↑
1/0 = ABOVE/BELOW
Note) "&B" is shows the binary
* The illustration is an example.