Operation Procedure; Parameter Setting - Mitsubishi Electric MELFA CR800-D Series User Manual
Industrial robot
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Also See for MELFA CR800-D Series:
- User manual (194 pages) ,
- Instruction manual (60 pages) ,
- Standard specifications manual (128 pages)
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Table of Contents
6 Coordinated control for additional axes
6.1.3 Operation procedure
1. Setting of additional axis / user mechanisms （Advance preparation）
Set additional axis / user mechanisms that you use.
2. Setting of base coordinate offset of additional axis / user mechanisms
Set the parameter of base coordinate offset of additional axis/user mechanisms.
6.1.4 Parameter setting
The parameter list which is used is below.
Parameter
Parameter
Base coordinate
BSWOFST1
offset data of
additional axis /
BSWOFST2
user mechanisms.
BSWOFST3
6-84 Calibration of base coordinates
Table 6-2 The parameter list of base coordinate calibration.
Element
name
number
Real
number 6
Operation start
Operation end
Explain of contents
L1(J7)axis/
Set the offset data
J1 single axis
robot's
system origin to the base
L2(J8)axis/
coordinate
J2 single axis
additional
J3 single axis
mechanisms.
(In case of robot (mechanism
1), it is equal to additional
axis.)
Element 1：
Translation amount of X axis
direction[mm]
Element 2：
Translation amount of Y axis
direction[mm]
Element 3：
Translation amount of Z axis
direction[mm]
Element 4：
Rotation amount about X axis
[deg]
Element 5：
Rotation amount about Y axis
[deg]
Element 6：
Rotation amount about Z axis
[deg]
Refer to 6.1.4
Factory
from the
0.00,
world
coordinate
0.00,
0.00,
origin
of
the
0.00,
axis
/
user
0.00,
(X, Y, Z, A, B, C).
0.00
setting
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