7.4. Create the robot program No. 1
Use RT ToolBox2/RT ToolBox3 (personal computer support software) or the teaching pendant, and create
the robot program No. 1.
Refer to separate manual "Detailed description of the function and operation" for the creation method.
The simple example of the program shown in the following
This example of the robot program is the example which outputs No. 6019 from the output signal No.
6016 for each operation, and finally outputs "+123" to the output register.
7.5. Start the robot program No. 1 from the master station
Start the robot program No. 1 by the circuit of the sample rudder program.
The procedure is shown in the following.
(1) Turn on the power supply of the MELSEC sequencer and the robot controller.
(2) If the key switch in the operation panel of the robot controller is changed to "Automatic", the
robot program No. 1 will start automatically.
(3) If the last of the robot program No. 1 has the "Hlt" command, the robot program will stop
automatically.
(4) If the key switch of the operation panel is changed to "Automatic"->"Manual"-> "Automatic",
the robot program No. 1 will be started again.
Mov PHOME ' Move to the safety point.
Dly 1 ' Wait for the 1 second
Mov P1,-100 ' Approach with 100mm to P1
M_Out(6016)=1 ' Turn on the output signal No. 6016
Cnt 1,0,0 ' Continuation trajectory operation
Mov P1 ' Move to P1
M_Out(6017)=1 ' Turn on the output signal No. 6017
HClose 1 ' Hold the work
Dly 0.5 '' Wait for the 1 second
M_Out(6018)=1 ' Turn on the output signal No. 6018
Cnt 1 ' Continuation trajectory operation
Mov P1,-100 ' Approach with 100mm to P100
M_Out(6019)=1 ' Turn on the signal for confirmation of move to P2
Mov PHOME ' Move to the safety point
M_DOut(6001)=123 ' Output to the register
Hlt ' Program stop
End ' End of the program
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