Mitsubishi MELFA CR1D User Manual

7Appendix
Configuration flag 9-440
7 Appendix
7.1 Configuration flag
The configuration flag indicates the robot posture.
For the 6-axis type robot, the robot hand end is saved with the position data configured of X, Y, Z, A, B and
C. However, even with the same position data, there are several postures that the robot can change to. The
posture is expressed by this configuration flag, and the posture is saved with FL1 in the position constant (X,
Y, Z, A, B, C) (FL1, FL2).
The types of configuration flags are shown below.
*For vertical multi-joint type robot
(1) Right/Left
P is center of flange in comparison with the plane through the J1 axis vertical to the ground.
Q is center of J5 axis rotation in comparison with the plane through the J1 axis vertical to the ground.
Fig.7-1:Configuration flag (Right/Left)
(2) ABOVE/BELOW
Q is center of J5 axis rotation in comparison with the plane through both the J3 and the J2 axis.
Fig.7-2:Configuration flag (ABOVE/BELOW)
5-axis type
6-axis type
LEFT
RIGHT
LEFT
Ｐ
LEFT
RIGHT
LEFT
Ｑ
J1 axis
Rotation center
J1 axis
Rotation center
FL1(Flag1)
&B 0 0 0 0 0 0
0 0
↑
1/0 = Right/Left
Note) "&B" is shows the binary
Ｑ
ABOVE
BELOW
5-axis type 6-axis type
Ｑ
A
BOVE
BELOW
J2 axis
Rotation center
J3 axis
Rotation center
J3 axis
Rotation center
J2 axis
Rotation center
FL1(Flag1)
&B 0 0 0 0 0 0 0
0
↑
1/0 = ABOVE/BELOW
Note) "&B" is shows the binary

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English