Mitsubishi Electric MELFA CR800-D Series - Cooperative Control Parameter Settings

6 Coordinated control for additional axes
6-92 Base coordinate cooperative control
6.2.5 Parameter setting
The parameter list which is used is below.
Table 6-6 The list of parameter of base coordinate cooperative control
Parameter
Parameter
name
Element
number
Explanation of contents
Factory
setting
Base coordinate
synchronization
setting
BSSYNC
Integer
2
Enable or disable base coordinate cooperative
control, and specify the additional axis to which
base coordinate is attached.
Element1：
Enable or disable base coordinate
cooperative control.
0: Disable
1: Enable
Element 2：specify the additional axis to which
base coordinate is attached.
1: L1(J7)axis
2: L2(J8)axis
0, 1
The position and
posture of
attachment of base
coordinate
BSCALIB
Integer
6
Position relationship setting of base coordinate
and additional axis coordinate.
Element 1：Base coordinate mounting position
offset in the X axis direction from the
origin of the axis mechanical
interface coordinate system [mm]
Element 2：Base coordinate mounting position
offset in the Y axis direction from the
origin of the axis mechanical
interface coordinate system [mm]
Element 3：Base coordinate mounting position
offset in the Z axis direction from the
origin of the axis mechanical
interface coordinate system [mm]
Element 4：Base coordinate mounting posture
offset around X axis of mechanical
interface coordinate system [deg]
Element 5：Base coordinate mounting posture
offset around Y axis of mechanical
interface coordinate system [deg]
Element 6：Base coordinate mounting posture
offset around Z axis of mechanical
interface coordinate system [deg]
0.0, 0.0,
0.0, 0.0,
0.0, 0.0