Mitsubishi R56TB - Page 10

Contents page
iv
16.8.2.
Start ........................................................................................................................... 141
16.8.3. Flow of oerations....................................................................................................... 142
17.
Parameter editor 144
17.1. Starting ............................................................................................................................... 144
17.2. Downloading the parameter list (Robot controller -> T/B).................................................. 145
17.3. Changing the parameters................................................................................................... 146
17.4. Parameter menu................................................................................................................. 147
17.4.1. Motion limit ................................................................................................................ 148
17.4.2. JOG ........................................................................................................................... 148
17.4.3. Hand.......................................................................................................................... 149
17.4.3.1. Hand................................................................................................................. 149
17.4.3.2. Multi-Hand Tool ................................................................................................ 150
17.4.3.3. Multi-Hand Base............................................................................................... 151
17.4.3.4. Electric hand table............................................................................................ 152
17.4.3.5. Electric hand point............................................................................................ 153
17.4.3.6. Electric hand .................................................................................................... 154
17.4.4. Weight and size (Work) ............................................................................................. 155
17.4.5. Weight and size (Hand)............................................................................................. 155
17.4.6. TOOL parameter ....................................................................................................... 156
17.4.7. Slot table ................................................................................................................... 157
17.4.8. Output signal reset pattern........................................................................................ 158
17.4.9. Dedicated input / output signals assignment ............................................................ 159
17.4.9.1. General 1 ......................................................................................................... 159
17.4.9.2. General 2 ......................................................................................................... 159
17.4.9.3. Data.................................................................................................................. 160
17.4.9.4. Jog.................................................................................................................... 160
17.4.9.5. Hand................................................................................................................. 161
17.4.9.6. Warm up........................................................................................................... 161
17.4.9.7. Start (each slot) ................................................................................................ 162
17.4.9.8. Stop (each slot) ................................................................................................ 162
17.4.9.9. Servo ON / OFF (each robot)........................................................................... 163
17.4.9.10. Machine lock (each robot)................................................................................ 163
17.4.10. RS-232 ...................................................................................................................... 164
17.4.11. User-defined area ..................................................................................................... 164
17.4.12. Free plane limit.......................................................................................................... 165
17.4.13. Home position ........................................................................................................... 165
17.4.14. Program language..................................................................................................... 166
17.4.15. Robot additional axis................................................................................................. 166
17.4.16. Collision detection ..................................................................................................... 168
17.4.17. Warm-up operation.................................................................................................... 168
17.4.18. Movement.................................................................................................................. 169
17.4.19. Command.................................................................................................................. 169
17.4.20. User error .................................................................................................................. 170
17.4.21. Ethernet..................................................................................................................... 171
17.4.22. Multiple CPU ............................................................................................................. 172
17.4.23. CC-Link ..................................................................................................................... 173
17.4.24. PROFIBUS................................................................................................................ 174
17.4.25. I/O unit....................................................................................................................... 175
17.4.26. Work coordinate ........................................................................................................ 176
17.4.27. Force control parameters .......................................................................................... 177
17.4.27.1. Force sensor .................................................................................................... 177
17.4.27.2. Force control mode .......................................................................................... 178
17.4.27.3. Force control characteristics ............................................................................ 178
17.4.27.4. Force log .......................................................................................................... 179
17.4.28. Real-time external control command ........................................................................ 180
17.4.29. User definition parameter.......................................................................................... 181
17.5. Find .................................................................................................................................... 182
17.6. Power Reset of the Robot Controller ................................................................................. 182