Mitsubishi Electric CR760-D User Manual

3-40 Programming
3Explanation of operation methods
(5) Registering the current position data
Teach the position variable which moves the robot to the movement position by jog operation etc., and is
using the position by the program (registration). It is overwritten if already taught (correction). There are the
teaching in the command edit screen and the teaching in the position edit screen.
(a) Teaching in the command edit screen
Call the step which is using the position variable to teach.
The operating procedure in the case of teaching the current position to the below to the position variable
P5 of step 5 "Mvs P5" is shown. Move the robot to the movement position by jog operation etc. before-
hand.
1) Call the step 5
Press the function key corresponding to "JUMP", then step number input screen is displayed. Press
the [5], [EXE] key, move cursor to step 5.
Step 5 can be called even if it moves the cursor to Step 5 by the [ ↑ ], [ ↓ ] key.
2) Teaching of the current position
Press the function key corresponding to "TEACH" ([F4]), then the confirmation screen is displayed.
3) Press the function key corresponding to "Yes", then the robot's current position data will be taught to
P5, and display will return to the original command edit screen. The teaching can be canceled if the
function key corresponding to "No" is pressed.
The teaching of the current position was completed above.
Call the step 5 [F2]
Call the step 5 [5] [EXE]
<PROGRAM> 1 100%
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
BWD
123JUMP
FWD
⇒
<PROGRAM> 1 100%
STEP ( 5 )
CLOSE123
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
No
123Yes
Register the current position [F4]
<PROGRAM> 1 100%
4 Mov P4
5 Mov P5
6 End
TEACH
123
DELETE
EDIT
INSERT
⇒
Register the current position [F1]
<PROGRAM> 1
P5
RECORD CURRENT POSITION.
OK?
No
123Yes
<PROGRAM> 1 100%
4 Mov P4
5 Mov P5
6 End
TEACH
123
DELETE
EDIT
INSERT
⇒
Only one position variable is the target.
If the read step is using two or more position variables, such as "Mov P1+P2" and "P1=P10", the position va
able of most left-hand side is the target of the teaching.
And, as shown in "Mov p1+P2", the position variable of the capital letter and the small letter is intermingled,
the position variable of the capital letter is target. (The software version of T/B is 1.3 or later) It is the followin
page if it teaches other variables. Refer to "(b) Teaching in the position edit screen" as follows.

Mitsubishi Electric CR760-D Specifications

General

Brand	Mitsubishi Electric
Model	CR760-D
Category	Controller
Language	English