Mitsubishi Electric MELFA CR800-D Series - Tracking Parameter Settings

6 Coordinated control for additional axes
Additional axis tracking 6-101
6.3.5 Parameter setting
The parameter which is used is below.
Table 6-11 The list of parameter of additional axis tracking
Parameter
Parameter
name
Element
number
Content explanation
Factory
setting
Workpiece
synchronization
settings
WKnSYNC
(n = 1～8)
Integer 2
Set the mechanism number and axis number
attached to workpiece.
Element1：mechanism number
0: Disable
2: mechanism 2
3: mechanism 3
Element2：Axis number
1/2/3: 1/2/3 axis of corresponding
mechanism.
0, 1
Workpiece
mounting
position、posture
data
WKnCALIB
(n = 1～8)
Real
number 6
Set the position relationship of workpiece and
coordinate ofattached axis.
Element 1：Mounting position offset in the X axis
direction from the origin of the
mounting axis. [mm]
Element 2：Mounting position offset in the Y axis
direction from the origin of the
mounting axis. [mm]
Element 3：Mounting position offset in the Z axis
direction from the origin of the
mounting axis. [mm]
Element 4：M
ounting posture offset around X
axis of the munting axis. [deg].
Element 5：M
ounting posture offset around Y
axis of thr mounting axis. [deg].
Element 6：M
ounting posture offset around Z
axis of the mounting axis. [deg].
(The direction of rot
ation is the same as the
coordinate system of the robot.)
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
Tracking mode
TRMODE
Integer 1
Specify tracking disable/tracking/additional axis
tracking.
0: Tracking disable
1: External encoder tracking
2: Additional axis tracking
0
Tracking
Acceleration
(*1)
TRPACL
Real
number 8
Tracking acceleration.
Acceleration during execution of tracking
movement.
1.0, 1.0,
1.0, 1.0,
1.0, 1.0,
1.0, 1.0
Tracking
Deceleration
(*1)
TRPDCL
Real
number 8
Tracking deceleration.
Deceleration
during execution of tracking
movement.
1.0, 1.0,
1.0, 1.0,
1.0, 1.0,
1.0, 1.0
Number of multi
mechanisms
used
(*2)
AXUNUM
Integer 1
The number of multi-mechanism to use.
(The robot and the mechanism of mechanism
number 1 are exclude.)
0
Mechanism No.
designation
(*2)
AXMENO
Integer 16
Input the mechanism No. to the element which
corresponds to the servo control axis No. used
and be sure to set "0" for the axis not used.
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0