Mitsubishi Electric MELFA CR800-D Series - Page 112

6 Coordinated control for additional axes
6-102 Additional axis tracking
Parameter
Parameter
name
Element
number
Content explanation
Factory
setting
Setting axis No.
(*2)
AXJNO
Integer 16
Designate what number of the axis of the robot
arm is used for the additional axis.
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0
Unit sstem
(*2)
AXUNT
Integer 16
Unit system of additional axis
0: Angle[deg]
1: Length[mm]
2: Length[mm] Using linear servo
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0
Rotate
direction
(*2)
AXSPOL
Integer 16
Set the rotation direction of the motor.
0: Forward(CCW)
1: Reverse(CW)
The direction of rotation of the servomotor is as
follows.
0, 0, 0, 0,
0, 0, 0, 0,
0, 0, 0, 0,
0, 0 ,0, 0
Acceleration
time
(*2)
AXACC
Real
numbe 16
Acceleration time for additional axis [sec].
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20
Deceleration
time
(*2)
AXDEC
Real
number 16
Deceleration time for additional axis [sec].
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20,
0.20, 0.20
Total speed ratio
numerator
(*2)
AXGRTN
Integer 16
Total speed ratio numerator of additional axis
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1,
1, 1, 1, 1
Total speed ratio
denominator
(*2)
AXGRTD
Integer 16
Total speed ratio denominator of additional axis
10, 10,
10, 10,
10, 10,
10, 10,
10, 10,
10, 10,
10, 10,
10, 10