Mitsubishi Electric R56TB Instruction Manual page 12

16.8.1. Specifications ........................................................................................................145
16.8.2. Start ......................................................................................................................145
16.8.3. Flow of oerations ...................................................................................................146
17. Parameter editor
17.1. Starting ..........................................................................................................................148
17.2. Downloading the parameter list (Robot controller -> T/B) ................................................149
17.3. Changing the parameters ...............................................................................................150
17.4. Parameter menu ............................................................................................................151
17.4.1. Motion limit ............................................................................................................152
17.4.2. JOG ......................................................................................................................152
17.4.3. Hand .....................................................................................................................153
17.4.3.1. Hand .............................................................................................................153
17.4.3.2. Multi-Hand Tool .............................................................................................154
17.4.3.3. Multi-Hand Base ...........................................................................................156
17.4.3.4. Electric hand table ........................................................................................157
17.4.3.5. Electric hand point ........................................................................................158
17.4.3.6. Electric hand .................................................................................................159
17.4.4. Weight and size (Work) ..........................................................................................160
17.4.5. Weight and size (Hand) .........................................................................................160
17.4.6. TOOL parameter....................................................................................................161
17.4.7. Slot table ...............................................................................................................162
17.4.8. Output signal reset pattern .....................................................................................163
17.4.9. Dedicated input / output signals assignment ..........................................................164
17.4.9.1. General 1 ......................................................................................................164
17.4.9.2. General 2 ......................................................................................................164
17.4.9.3. Data ..............................................................................................................165
17.4.9.4. Jog ...............................................................................................................165
17.4.9.5. Hand .............................................................................................................166
17.4.9.6. Warm up .......................................................................................................166
17.4.9.7. Start (each slot) ............................................................................................167
17.4.9.8. Stop (each slot) .............................................................................................167
17.4.9.9. Servo ON / OFF (each robot) ........................................................................168
17.4.9.10. Machine lock (each robot) .............................................................................168
17.4.10. RS-232 ..................................................................................................................169
17.4.11. User-defined area ..................................................................................................169
17.4.12. Free plane limit ......................................................................................................170
17.4.13. Home position .......................................................................................................170
17.4.14. Program language .................................................................................................171
17.4.15. Robot additional axis .............................................................................................171
17.4.16. Collision detection .................................................................................................173
17.4.17. Warm-up operation ................................................................................................173
17.4.18. Movement .............................................................................................................174
17.4.19. Command ..............................................................................................................174
17.4.20. User error ..............................................................................................................175
17.4.21. Ethernet.................................................................................................................176
17.4.22. Multiple CPU .........................................................................................................177
17.4.23. CC-Link .................................................................................................................178
17.4.24. PROFIBUS ............................................................................................................179
17.4.25. I/O unit ..................................................................................................................180
17.4.26. Work coordinate ....................................................................................................181
17.4.27. Force control parameters .......................................................................................182
17.4.27.1. Force sensor .................................................................................................182
17.4.27.2. Force control mode .......................................................................................183
17.4.27.3. Force control characteristics..........................................................................183
17.4.27.4. Force log ......................................................................................................184
17.4.28. Real-time external control command ......................................................................185
17.4.29. User definition parameter .......................................................................................186
17.5. Find................................................................................................................................187
17.6. Power Reset of the Robot Controller...............................................................................187
Contents
iv
page
148