Mitsubishi Electric MELFA FR CR800 Series User Manual page 358

15.4.11.2. Position data posture components
The position data of MELFA-BASIC IV, MELFA-BASIC V and MELFA-BASIC VI consists of tip position (X, Y, Z)
and tip posture elements (A, B, C)
This section describes the cases where [Use the posture elements of position data] is checked and not checked.
Memo
(*1) The posture elements of position data
In vertical 6-axis robots, the position data posture elements are (A, B, C).
In vertical 5-axis robots, the position data posture elements are (A, B).
In horizontal 4-axis robots, the position data posture element is (C).
(1) When [Use the posture elements of position data] is checked
Not just the robot tip position (X, Y, Z) but also the tip posture elements are used for position correction
calculation.
The precision of generated revision parameters improves if the tip posture elements are also re-taught
correctly.
However, if the tip posture elements are not re-taught correctly, as shown in the diagrams below (re-teaching
positions P1 and P2), error occurs in the position correction calculation, decreasing the precision of the
calculation result.
If posture elements are not re-taught accurately
Original position
and posture
(2) When [Use the posture elements of position data] is not checked
Posture elements in the position data taught during re-teaching are not used for position correction calculation.
If it is not necessary to exactly match the tip posture elements during re-teaching, clear the checkbox [Use the
posture elements of position data]. In such a case, position correction calculation is performed using only the
tool tip position data (X, Y, Z), ignoring the error from posture deviation. This increases the precision of location
correction.
However, there are some restrictions.
Re-teaching Position Data".
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(*1)
Re-teaching Re-teaching
position P1 position P2
For details, see "Table 15-11 About Posture Elements of
If posture elements are
re-taught accurately
Re-teaching
position P3
Re-teaching position
Original position and posture
Position and posture before
re-teaching
Position and posture after
re-teaching
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