Mitsubishi Electric MELFA CR800-D Series - Page 114

6 Coordinated control for additional axes
6-104 Additional axis tracking
Parameter
Parameter
name
Element
number
Content explanation
Factory
setting
Joint movement
range
(*2)
MEJAR
Real
numbe 16
Set the overrun limit value for the joint
coordinate system.
Sets
the movement range for each axis.
Expanding of the movement range is not
recommended, since there is possibility that the
robot may strike the mechanical stopper.
Note) Please note that the joint movement
range of J1 axis cannot be changed
after the J1 a
xis offset angle
(J1OFFSET) is specified in vertical
5-axis type robot.
Set the minus and plus directions.
(-J1,+J1,-J2,+J2,......-J8,+J8)
Unit:deg
Setting
value
for each
mechanism
User-designated
origin
(*2)
USERORG
Real
numbe 8
Designate the user-designated origin position.
This normally does not need to be set.
(J1,J2,J3,J4,J5,J6,J7,J8)
Unit：deg
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00,
0.00, 0.00
*1: For details of parameters, refer to chapter 18.1 “List of Parameters Related to Tracking” of “Tracking
Function Instruction Manual (BFP-A3520)”.
*2: For details of parameters, refer to chapter 7.1 “Description of parameters” of “ADDITIONAL AXIS
FUNCTION INSTRUCTION MANUAL (BFP-A3504)”.