7Appendix
Ex-T control Appendix-691
Fig.7-118:Operation example 2
■Step 1: Setting of the work coordinates (Ex-T coordinates)
Specify the work coordinates (Ex-T coordinates) so that the contact point between the processing tool and
the workpiece shown in the figure is used as the origin of the work coordinates (Ex-T coordinates). (On the
work coordinate 1 in this example)
In order to enable jog operation along this work coordinates system, set "1 (Ex-T jog mode)" in the parame-
ter WK1JOGMD.
■Step 2: Teaching of the positions
Let the robot actually hold the workpiece for teaching of the positions.
The positions <1> to <5> are taught in this example.
For teaching of the positions, performing jog feed of the robot in WORK jog (Ex-T jog) enables jog feed
along the processing tool.
■Step 3: Creation of the program
Create the MELFA-BASIC V program.
(Some of the actual necessary operations such as workpiece holding movement and input/output of signals
are omitted in this example.)
[Example program]
Mov P001 ’ Moves to the position <1>.
Dly 0.5
Spd 50 ’ Sets the processing speed (workpiece moving speed) to 50 mm/sec.
EMvs 1, P002 ’ Moves to the target position <2> along the work coordinate 1 by Ex-T
linear interpolation.
EMvr 1, P002,P003,P004 ’ Moves to the target position <4> from position <2> via position <3>
along the work coordinate 1 by Ex-T circular arc interpolation.
EMvs 1, P005 ’ Moves to the target position <5> along the work coordinate 1 by Ex-T
linear interpolation.
:
In this example, the teaching positions are five. More teaching positions are required depending on the
actual workpiece shape or processing operations. Change the program accordingly.
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