Mitsubishi Electric MELFA CR800-D Series - Additional Axis Tracking Specifications

6 Coordinated control for additional axes
6-98 Additional axis tracking
6.3.3 Specification
(1) Basic specification
Basic function is below.
Table 6-9 Basic specification of additional axis tracking
Item
Specification
Usable robot
Vertical Multiple-joint roobts, Horizontal multiple-joint robots
Usable robot language
MELFA-BASIC VI
 Status variable
Variable
name
Explanation
Page
M_AxTrkWkNo
Workpiece number used by additional
axis tracking.
6-106
P_WkCalib
Offset amount of axis to which workpiece
coordinate attached.
6-107
P_TrkPAcl
Additional axis tracking acceleration
acceadjustment coefficient.
6-108
P_TrkPDcl
Additional axis tracking deceleration
acceadjustment coefficient.
6-108
P_TrkBase
Workpiece reference position used by
additional axis tracking.
6-109
P_TrkTarget
Workpiece current position used by
additional axis tracking.
6-110
 Command
Command
name
Explanation
Page
Trk
Enable additional axis tracking.
6-112
Attachment
of workpiece
coordinate
Usable
mechanisms
J1/J2/J3 axis of user mechanisms.
Attach method
For each workpiece number, set the axis to which workpiece coordinate
attached.
 Parameter “WK1SYNC” to “WK8SYNC”
Attach position
Setting of mounting position and posture is below.
 Status variable "P_WkCalib"
 Parameter "WK1CALIB"to "WK8CALIB"
Workpiece move
In the case of user mechanisms, it is possible to move workpiece.
Follow the workpiece
* User mechanisms cannot be used.
Movement area check
at the following of the workpiece.
In the case of workpiece coordinate following control, the movement
area at command execution is not checked.