Mitsubishi Electric MELFA CR800-D Series - 5. Robot mechanism temperature compensation function; Temperature Compensation Function Specifications

5 Robot mechanism temperature compensation function
5-78 Specification
5.Robot mechanism temperature compensation function
This chapter explains the robot mechanism temperature compensation function.
5.1 Specification
Robot mechanism temperature compensation function is a function to measure the temperature of the robot
arm and automatically correct errors due to thermal expansion of the arm.
With this function, even if the temperature changes depending on the season and time zone, positional shift
due to thermal expansion of the robot arm can be suppressed.
Table 5-1 Basic specification of robot mechanism temperature compensation function
Contents
Specifications
Compatible robot
Vertical articulated (6-axis) robot
Horizontal articulated (4-axis) robot
*Not supported with vertical articulated (5-axis) robot or user mechanism.
*Additional axis is not subject to temperature correction.
Remarks
Temperature correction is always enabled.
However, when specifying the position command by pulse coordinates like the
Mxt command (real-time external control c
ommand) specified with motor pulse
coordinate data, temperature correction is not performed.
This function is effective only by installing the MELFA Smart Plus card pack.
*When using the MELFA Smart Plus card, "2" must be set in the parameter "SMART+1".
（When the origin setting is not complete, this function is invalid.）
If you wish to disable this function with the MELFA Smart Plus card/card pack installed, set the parameter
"MTCENA" to "0" and turn the controller power ON again.
Table 5-2. State of Robot mechanism temperature compensation function
Item
parameter “SMART+1”
parameter “MTCENA”
Function state
MELFA Smart Plus card
2
0
Invalid
1
Enable
Others
0
Invalid
1
Invalid
MELFA Smart Plus
card pack
-
0
Invalid
1
Enable