User-Defined Area Parameter; Free Plane Limit Parameters - Mitsubishi Electric MELFA FR CR800 Series User Manual

13.3.6. User-defined area parameter

You can specify the region (cuboid) defined with two points in the robot XYZ coordinates and set the behavior for
when the robot enters this region.
Set the parameters while connected to the robot controller.
Double-click [Movement parameter] -> [User-defined area] under the [Parameter] item to be edited from the
project tree.
After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write]
button.
The default is to select[Not teach posture][Not teach L1L2]. In this state, clicking each teaching button of AREA *
P1 and AREA * P2, the following values are set for robot attitude (A, B, C) and additional axes (L1, L2).
Table 13-7 [Not teach posture][Not teach L1L2] values taught when checkbox is enabled
Robot posture(A, B, C)
Additional axes (L1,L2)
If you want to teach the robot pusture and additional axes,please uncheck the checkbox.
Click the [Explain] button to refer to the parameter description.

13.3.7. Free plane limit parameters

You can set the overrun limit for using the robot on a free plane.
Set the parameters while connected to the robot controller.
Double-click [Movement parameter] -> [Free plane limit] under the [Parameter] item to be edited from the project
tree.
After you change a parameter value, you can rewrite the parameters in the robot controller by clicking the [Write]
button.
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Figure 13-23 User-defined area parameter
AREA*P1
-360
-100000
AREA*P2
360
100000
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