Mitsubishi Electric MELFA CR800-D Series - Page 100

6 Coordinated control for additional axes
6-90 Base coordinate cooperative control
(2) Restrictions
Restriction of this function is below.
Table 6-5 Restrictions of base coordinate cooperative control
Restrictions
Contents
Interpolation processing
It is possible to use Mov, Mvs, Mvr, Mvr2, Mvr3, Mva
command, Spline interpolation.
Peculiar point transit interpolation.
Interporation of Ex-Tcontrol
If the additional axis moves, this function cannot be executed.
(Error L2661 (Interpolation cannot be executed) is occurred)
* If the additional axis don’t move, it is possible to execute.
Circular interpolation (Mvc, EMvc)
Ex-T spline interpolation
It does not move in the additional axis.
Acceleration/deceleration processing
Optimum acceleration / deceleration is unavailable.
The robot moves with a fixed acceleration / deceleration.
(Oadl On command is ignored.)
Combined use with
other function
Tracking function
Cannot be used together. Traking function takes priority.
(Error L2661 (Cannot be used (base coop)) is occurred.)
Synchronous control
of additional axis.
Cannot be used together. Synchronous control of additional
axis takes priority.
(Error L2661 (Cannot be used (base coop)) is occurred.)
Jrc command
In the case of additional axis which is the target of base
coordinatecooperative control, this command cannot be used.
(Error L2661 (Jrc cannot be executed) is occurred.)
Interference
avoidance function
Cannot be used together. Interference avoidance function
takes priority.
(Error L2661 (Cannot be used (base coop)) is occurred.)
Change setting of base coordinate
The value that is calculated by base coordinate cooperative
control is used as base data of the robot.
* Traditional base setting such as base command and
parameter MEXTL, MEXBSNO etc cannot be used.
3D display of RT ToolBox3
Operation by base coordinate cooperative control is not
displayed at 3D monitor of RT ToolBox 3.
The setting of Horizontal type (4 axis),
Ceiling type, Vertical type (5 axis) robot
Base coordinate cooperative control can be used only when
the installation plane of the robot is parallel to the world
coordinate system XY plane.
PtoJ()/JtoP()
Execute coordinate change by reflecting the settings of the
base coordinate cooperative control.
If there is no additional axis data in the argument, calculate the
additional axis value as 0.
Points of attention
 Before enabling the base coordinate coordinated control with the parameter BSSYNC, it is necessary to
complete the origin setting of the robot and additional axis. If base coordinate coordination control is
enabled with the origin setting not completed, error L2660 (Origin unsetting (base coop)) will occur at
power on, base coordinate cooperative control will not function.
 When the base coordinate cooperative control is functioning, if you reset the additional axis to which the
base coordinate is attached, the error H2663 (Origin data was changed) will be generated. In that case,
turn the power of the robot controller again and reset the error.
 It can not be used while switching base coordinate cooperative control on / off.
 The base data of the robot is calculated using the position data of the additional axis. If the position of the
additional axis is not registered in the teaching data, base data is calculated using the position of the
additional axis when using the teaching data.
 Behavior of jog movement (R56TB, RT ToolBox3)
Joint jog:
When additional axis is operated, each joint angle of the robot is held and operated. The current position
of Cartesian coordinates changes according to the motion of the additional axis.
Other jogs:
When the additional axis is operated, the current position of rectangular coordinates is held and operated.
Although the position of the control point of the robot does not change, the joint angle of the robot
changes according to the motion of the additional axis.
The additional axis jog of R32TB is the operation of the above joint jog.