Mitsubishi Electric MELFA CR800-D Series - Calibration of Robot and Base Coordinate Systems (A1 Program)

6 Coordinated control for additional axes
6-114 Additional axis tracking
6.3.8 Calibration of Robot and Base Coordinate Systems (“A1” program)
This chapter explains the tasks carried out by using “A1” program.
Calibration of robot and base coordinate systems refers to determining the origin position of user mechanisms
in the robot coordinate system.
“A1” program performs specified tasks and automatically calculates the origin position of user mechanisms in
the robot coordinate system.
The procedures of operations specified by “A1” program and items to be confirmed after the operations are
explained below.
Please refer to “Detailed Explanations of Functions and Operations” for the steps involved in each operation.
6.3.8.1. Operation procedure
(1) Set the controller mode to "MANUAL". Set the T/B to "ENABLE".
(2) Press one of the keys (example, [EXE] key) while the <TITLE> screen is displayed. The <MENU> screen
will appear.
(3) Select "1. FILE /EDIT" screen on the <MENU> screen.
(4) Press the arrow key, combine the cursor with the program name "A1" and press the [EXE] key. Display
the <program edit> screen.
(5) Press the [FUNCTION] key, and change the function display.
(6) Press the [F1] (FWD) key and execute step feed. “(1) Input a mechanism number ... “is displayed.
Execute work according to the comment in the robot program.
Specify the mechanism number.
If you want to change the mechanism number, please edit the program as follows.
MELFA CR800-D Ver. A1
RH-3FRH5515-D
COPYRIGHT (C) 2017 MITSUBISHI
ELECTRIC CORPORATION ALL RIGHTS
RESERVED
<MENU>
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1.FILE/EDIT 2.RUN
CLOSE
○
○
○
123
<FILE/EDIT>
1 17-03-31 17:06:39 12345
A1 17-03-31 17:06:39 12345
CM1 17-03-31 17:06:39 12345
COPY
EDIT
POSI
NEW
123
<MENU>
3.PARAM 4.ORIGIN/BRK
5.SET/INIT
1.FILE/EDIT 2.RUN
CLOSE
○
○
○
123
<FILE/EDIT>
1 17-03-31 17:06:39 12345
A1 17-03-31 17:06:39 12345
CM1 17-03-31 17:06:39 12345
COPY
EDIT
POSI
NEW
123
<PROGRAM> A1
1 '## Ver.A1 #####################
2 '# Coordinated control for addit
3 '# Program Type : A1.
4 '# Date of creation/version : 201
COPY
EDIT
POSI
NEW
123
<PROGRAM> A1
1 '## Ver.A1 #####################
2 '# Coordinated control for addit
3 '# Program Type : A1.
4 '# Date of creation/version : 201
TEACH
EDIT
DELETE
INSERT
123
<PROGRAM> A1
1 '## Ver.A1 #####################
2 '# Coordinated control for addit
3 '# Program Type : A1.
4 '# Date of creation/version : 201
BWD
FWD
JUMP
123
<PROGRAM> A1
4 '# Date of creation/version : 201
5 '# COPYRIGHT : MIT
6 '##############################
7 '(1)Input a mechanism number to
BWD
FWD
JUMP
123