Mitsubishi Electric MELFA FR CR800 Series User Manual page 355

15.4.11.1. Revision parameters
Parameters revised by items selected with "Select revision parameters" become as in "Table 15-10 Selection of
Revision Parameters".
Memo
Some elements cannot be calculated according to
the robot type and the combination of revision parameters.
In this function, the amount of the robot deviation is calculated as a correction value, and the
revision parameter is generated. However, some elements cannot be calculated (the value becomes
0) as the following two kinds of cases.
* Cases which cannot be calculated due to the degree of freedom limitations of the robot
Some elements of revision parameter cannot be reflected because Vertical 5-axis robots and
horizontal 4-axis robots have limited degrees of freedom.
* Cases condensed by the combination of robot mechanism and revision parameters
Some revision parameter elements become the value on the same rotation axis due to the
combination of the robot mechanism and revision parameters. In such cases, the calculated deviation
value is condensed to the one element of the revision parameters.
At this case, though the correction parameters become 0, the others are condensed and corrected.
So it is not necessary to correct it again.
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