Mitsubishi Electric MELFA CR800-D Series - Operation Procedure; Parameter Setting

6 Coordinated control for additional axes
6-84 Calibration of base coordinates
6.1.3 Operation procedure
6.1.4 Parameter setting
The parameter list which is used is below.
Table 6-2 The parameter list of base coordinate calibration.
Parameter
Parameter
name
Element
number
Explain of contents
Factory
setting
Base coordinate
offset data of
additional axis /
user mechanisms.
BSWOFST1
Real
number 6
L1(J7)axis/
J1 single axis
Set the offset data from the
robot's world coordinate
system origin to the base
coordinate
origin of the
additional axis / user
mechanisms. (X, Y, Z, A, B, C).
(
In case of robot (mechanism
1), it is equal to additional
axis.)
Element 1：
Translation amount of X axis
direction[mm]
Element 2：
Translation amount of Y axis
direction[mm]
Element 3：
Translation amount of Z axis
direction[mm]
Element 4：
Rotation amount about X axis
[deg]
Element 5：
Rotation amount about Y axis
[deg]
Element 6：
Rotation amount about Z axis
[deg]
0.00,
0.00,
0.00,
0.00,
0.00,
0.00
BSWOFST2
L2(J8)axis/
J2 single axis
BSWOFST3
J3 single axis
Operation start
Operation end
2. Setting of base coordinate offset of additional axis / user mechanisms Refer to 6.1.4
Set the parameter of base coordinate offset of additional axis/user mechanisms.
1. Setting of additional axis / user mechanisms （Advance preparation）
Set additional axis / user mechanisms that you use.