Mitsubishi Electric MELFA CR800-D Series - Page 138

6 Coordinated control for additional axes
6-128 Additional axis tracking
6.3.11.2. Setting of adjustment variables in the program
The following section explains how to set adjustment variables, which are required at transportation, and
details about their setting.
Please refer to separate manual “Detailed Explanations of Functions and Operations” for how to set
adjustment variables.
Table 6-1 List of adjustment variables in the program
Variable
name
Explanation
Setting Example
PUp1
When the adsorption operation of workpiece, set
the offset in the z-axis that the robot works.
Offset is the amount of elevation (mm) from the
position where workpiece is adsorbed.
[*]Since thi
s variable shows the distance in a
tool coordinate system, the sign changes
depending on a robot model.
When you raise the workpiece 50mm
from the adsorption position:
（Example）RV series:
(X,Y,Z,A,B,C)=(+0,+0,-50,+0,+0,+0)
（Example）Other than RV series:
(X,Y,Z,A,B,C)=(+0,+0,+50,+0,+0,+0)
PDly1
Set the time to keep following work reference
position
When tracking time is set to 1 second
(X,Y,Z,A,B,C)= (+1,+0,+0,+0,+0,+0)
PPri
“1” program and “CM1” program are run
simultaneously (multitasking). “1” pro
gram moves
the robot, and “CM1” program observes the sensor.
It is possible to specify which program is processed
with a higher priority, rather than performing the
same amount of processing at the same time.
X = Set the line numbers of “1” program to be
performed (1 to 31).
Y = Set the line numbers of “CM1” program to
be performed (1 to 31).
When you set to run “1” program by
one line and run “CM1” program by 10
lines:
(X,Y,Z,A,B,C)=(+1,+10,+0,+0,+0,+0)
POffset
When the adsorption position shifts, the gap can be
corrected. Set the correction value.
[*]The direction of the correction is a direction
of the hand coordinate system. Please decide
the correction value after changing the job
mode to "Tool", pushing the [+X] key and the
[+Y] key, and confir
ming the operation of the
robot.
When the deviation to +X direction
in hand-coordinate system is 2mm, and
deviation to -Y direction in
hand-coordinate system is 1mm:
(X,Y,Z,A,B,C)=(+2,-1,+0,+0,+0,+0)